Marc Pollefeys | Swiss Federal Institute of Technology (ETH) (original) (raw)

Papers by Marc Pollefeys

Research paper thumbnail of 3D Reconstruction of architectural scenes from uncalibrated video sequences

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Research paper thumbnail of Differential Tracking through Sampling and Linearizing the Local Appearance Manifold

Recovering motion information from input camera image sequences is a classic problem of computer ... more Recovering motion information from input camera image sequences is a classic problem of computer vision. Conventional approaches estimate motion from either dense optical flow or sparse feature correspondences identified across successive image frames. Among other things, performance depends on the accuracy of the feature detection, which can be problematic in scenes that exhibit view-dependent geometric or photometric behaviors such as occlusion, semitransparancy, specularity and curved reflections. Beyond feature measurements, researchers have also developed approaches that directly utilize appearance (intensity) measurements. Such appearance-based approaches eliminate the need for feature extraction and avoid the difficulty of identifying correspondences. However the simplicity of on-line processing of image features is usually traded for complexity in off-line modeling of the appearance function. Because the appearance function is typically very nonlinear, learning it usually re...

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Research paper thumbnail of Piecewise planar and non-planar stereo for urban scene reconstruction

2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2010

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Research paper thumbnail of Privacy Preserving Image-Based Localization

2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2019

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Research paper thumbnail of 3D visual perception for self-driving cars using a multi-camera system: Calibration, mapping, localization, and obstacle detection

Image and Vision Computing, 2017

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Research paper thumbnail of Homography Based Egomotion Estimation with a Common Direction

IEEE transactions on pattern analysis and machine intelligence, Jan 23, 2016

In this paper, we explore the different minimal solutions for egomotion estimation of a camera ba... more In this paper, we explore the different minimal solutions for egomotion estimation of a camera based on homography knowing the gravity vector between calibrated images. These solutions depend on the prior knowledge about the reference plane used by the homography. We then demonstrate that the number of matched points can vary from two to three and that a direct closed-form solution or a Gr¨obner basis based solution can be derived according to this plane. Many experimental results on synthetic and real sequences in indoor and outdoor environments show the efficiency and the robustness of our approach compared to standard methods.

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Research paper thumbnail of Multi-body Depth-Map Fusion with Non-intersection Constraints

Lecture Notes in Computer Science, 2014

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Research paper thumbnail of Real-Time Direct Dense Matching on Fisheye Images Using Plane-Sweeping Stereo

2014 2nd International Conference on 3D Vision, 2014

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Research paper thumbnail of Structureless pose-graph loop-closure with a multi-camera system on a self-driving car

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

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Research paper thumbnail of 3D model matching with Viewpoint-Invariant Patches (VIP)

2008 IEEE Conference on Computer Vision and Pattern Recognition, 2008

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Research paper thumbnail of A new minimal solution to the relative pose of a calibrated stereo camera with small field of view overlap

2009 IEEE 12th International Conference on Computer Vision, 2009

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Research paper thumbnail of Challenges in Wide-area Structure-from-motion

IPSJ Transactions on Computer Vision and Applications, 2010

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Research paper thumbnail of Robust 6DOF Motion Estimation for Non-Overlapping, Multi-Camera Systems

2008 IEEE Workshop on Applications of Computer Vision, 2008

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Research paper thumbnail of Iso-disparity Surfaces for General Stereo Configurations

Lecture Notes in Computer Science, 2004

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Research paper thumbnail of Building Rome on a Cloudless Day

Computer Vision – ECCV 2010, 2010

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Research paper thumbnail of Absolute Scale in Structure from Motion from a Single Vehicle Mounted Camera by Exploiting Nonholonomic Constraints

2009 Ieee 12th International Conference on Computer Vision (Iccv), 2009

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Research paper thumbnail of Fast robust reconstruction of large-scale environments

2010 44th Annual Conference on Information Sciences and Systems (CISS), 2010

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Research paper thumbnail of Real-time photo-realistic 3D mapping for micro aerial vehicles

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

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Research paper thumbnail of Fast robust large-scale mapping from video and internet photo collections

ISPRS Journal of Photogrammetry and Remote Sensing, 2010

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Research paper thumbnail of A Unified Approach to Real-Time, Multi-Resolution, Multi-Baseline 2D View Synthesis and 3D Depth Estimation Using Commodity Graphics Hardware

International Journal of Image and Graphics, 2004

We present a new method for using commodity graphics hardware to achieve real-time, on-line, 2D v... more We present a new method for using commodity graphics hardware to achieve real-time, on-line, 2D view synthesis or 3D depth estimation from two or more calibrated cameras. Our method combines a 3D plane-sweeping approach with 2D multi-resolution color consistency tests. We project camera imagery onto each plane, compute measures of color consistency throughout the plane at multiple resolutions, and then choose the color or depth (corresponding plane) that is most consistent. The key to achieving real-time performance is our use of the advanced features included with recent commodity computer graphics hardware to implement the computations simultaneously (in parallel) across all reference image pixels on a plane. Our method is relatively simple to implement, and flexible in term of the number and placement of cameras. With two cameras and an NVIDIA GeForce4 graphics card we can achieve 50–70 M disparity evaluations per second, including image download and read-back overhead. This perf...

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Research paper thumbnail of 3D Reconstruction of architectural scenes from uncalibrated video sequences

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Research paper thumbnail of Differential Tracking through Sampling and Linearizing the Local Appearance Manifold

Recovering motion information from input camera image sequences is a classic problem of computer ... more Recovering motion information from input camera image sequences is a classic problem of computer vision. Conventional approaches estimate motion from either dense optical flow or sparse feature correspondences identified across successive image frames. Among other things, performance depends on the accuracy of the feature detection, which can be problematic in scenes that exhibit view-dependent geometric or photometric behaviors such as occlusion, semitransparancy, specularity and curved reflections. Beyond feature measurements, researchers have also developed approaches that directly utilize appearance (intensity) measurements. Such appearance-based approaches eliminate the need for feature extraction and avoid the difficulty of identifying correspondences. However the simplicity of on-line processing of image features is usually traded for complexity in off-line modeling of the appearance function. Because the appearance function is typically very nonlinear, learning it usually re...

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Research paper thumbnail of Piecewise planar and non-planar stereo for urban scene reconstruction

2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2010

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Research paper thumbnail of Privacy Preserving Image-Based Localization

2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2019

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Research paper thumbnail of 3D visual perception for self-driving cars using a multi-camera system: Calibration, mapping, localization, and obstacle detection

Image and Vision Computing, 2017

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Research paper thumbnail of Homography Based Egomotion Estimation with a Common Direction

IEEE transactions on pattern analysis and machine intelligence, Jan 23, 2016

In this paper, we explore the different minimal solutions for egomotion estimation of a camera ba... more In this paper, we explore the different minimal solutions for egomotion estimation of a camera based on homography knowing the gravity vector between calibrated images. These solutions depend on the prior knowledge about the reference plane used by the homography. We then demonstrate that the number of matched points can vary from two to three and that a direct closed-form solution or a Gr¨obner basis based solution can be derived according to this plane. Many experimental results on synthetic and real sequences in indoor and outdoor environments show the efficiency and the robustness of our approach compared to standard methods.

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Research paper thumbnail of Multi-body Depth-Map Fusion with Non-intersection Constraints

Lecture Notes in Computer Science, 2014

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Research paper thumbnail of Real-Time Direct Dense Matching on Fisheye Images Using Plane-Sweeping Stereo

2014 2nd International Conference on 3D Vision, 2014

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Research paper thumbnail of Structureless pose-graph loop-closure with a multi-camera system on a self-driving car

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

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Research paper thumbnail of 3D model matching with Viewpoint-Invariant Patches (VIP)

2008 IEEE Conference on Computer Vision and Pattern Recognition, 2008

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Research paper thumbnail of A new minimal solution to the relative pose of a calibrated stereo camera with small field of view overlap

2009 IEEE 12th International Conference on Computer Vision, 2009

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Challenges in Wide-area Structure-from-motion

IPSJ Transactions on Computer Vision and Applications, 2010

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Research paper thumbnail of Robust 6DOF Motion Estimation for Non-Overlapping, Multi-Camera Systems

2008 IEEE Workshop on Applications of Computer Vision, 2008

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Research paper thumbnail of Iso-disparity Surfaces for General Stereo Configurations

Lecture Notes in Computer Science, 2004

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Research paper thumbnail of Building Rome on a Cloudless Day

Computer Vision – ECCV 2010, 2010

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Research paper thumbnail of Absolute Scale in Structure from Motion from a Single Vehicle Mounted Camera by Exploiting Nonholonomic Constraints

2009 Ieee 12th International Conference on Computer Vision (Iccv), 2009

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Fast robust reconstruction of large-scale environments

2010 44th Annual Conference on Information Sciences and Systems (CISS), 2010

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Real-time photo-realistic 3D mapping for micro aerial vehicles

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Fast robust large-scale mapping from video and internet photo collections

ISPRS Journal of Photogrammetry and Remote Sensing, 2010

Bookmarks Related papers MentionsView impact

Research paper thumbnail of A Unified Approach to Real-Time, Multi-Resolution, Multi-Baseline 2D View Synthesis and 3D Depth Estimation Using Commodity Graphics Hardware

International Journal of Image and Graphics, 2004

We present a new method for using commodity graphics hardware to achieve real-time, on-line, 2D v... more We present a new method for using commodity graphics hardware to achieve real-time, on-line, 2D view synthesis or 3D depth estimation from two or more calibrated cameras. Our method combines a 3D plane-sweeping approach with 2D multi-resolution color consistency tests. We project camera imagery onto each plane, compute measures of color consistency throughout the plane at multiple resolutions, and then choose the color or depth (corresponding plane) that is most consistent. The key to achieving real-time performance is our use of the advanced features included with recent commodity computer graphics hardware to implement the computations simultaneously (in parallel) across all reference image pixels on a plane. Our method is relatively simple to implement, and flexible in term of the number and placement of cameras. With two cameras and an NVIDIA GeForce4 graphics card we can achieve 50–70 M disparity evaluations per second, including image download and read-back overhead. This perf...

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