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Street View Motion-from-Structure-from-Motion

James Roseborough
Proceedings of the International Conference on Computer Vision, IEEE (2013)


We describe a structure-from-motion framework that handles "generalized" cameras, such as moving rolling-shutter cameras, and works at an unprecedented scale--billions of images covering millions of linear kilometers of roads--by exploiting a good relative pose prior along vehicle paths. We exhibit a planet-scale, appearance-augmented point cloud constructed with our framework and demonstrate its practical use in correcting the pose of a street-level image collection.

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