International Society for Photogrammetry and Remote Sensing
Société Internationale de Photogrammétrie et de Télédétection
Internationale Gesellschaft für Photogrammetrie und Fernerkundung
THE INTERNATIONAL ARCHIVES OF THE PHOTOGRAMMETRY, REMOTE SENSING AND SPATIAL INFORMATION SCIENCES
ARCHIVES INTERNATIONALES DE PHOTOGRAMMÉTRIE, DE TÉLÉDÉTECTION ET DE SCIENCES DE L’INFORMATION SPATIALE
INTERNATIONALES ARCHIV FÜR PHOTOGRAMMETRIE, FERNERKUNDUNG UND RAUMBEZOGENE INFORMATIONSWISSENSCHAFTEN
VOLUME
VOLUME
BAND
XXXVI
PART
TOME
TEIL
3 / W36
ISPRS Workshop
in conjunction with ICCV 2005
BenCOS
Towards Benchmarking Automated Calibration,
Orientation and Surface Reconstruction from Images
Beijing, China
October 15, 2005
Editors
O. Hellwich, I. Niini, C. Ressl, V. Rodehorst, D. Scharstein, P. Sturm
Organisers
ISPRS WG III/1 - Automatic Calibration and Orientation of Optical Cameras
ISPRS WG III/2 - Surface Reconstruction
ISSN 1682-1777
This compilation is © 2005 by the International Society for Photogrammetry and Remote Sensing.
Reproduction of this volume or any parts thereof (excluding short quotations for the use in the preparation of
reviews and technical and scientific papers) may be made only after obtaining the specific approval of the
publisher. The papers appearing in this volume reflect the authors’ opinions. Their inclusion in this publication
does not necessarily constitute endorsement by the editors or the publisher. Authors retain all rights to
individual papers.
Published by
ISPRS Working Groups
- WG III/1 – Automatic Calibration and Orientation of Optical Cameras
- WG III/2 – Surface Reconstruction
ISPRS Headquarters 2004-2008
c/o ORHAN ALTAN, ISPRS Secretary General
Division of Photogrammetry, Faculty of Civil Engineering
Istanbul Technical University
Ayazaga, 34469 Istanbul, Turkey
Phone: +90 212 285 38 10
FAX: +90 212 285 65 87
Email: oaltan@itu.edu.tr
ISPRS WEB Homepage: http://www.isprs.org
Available from
GITC bv
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8530 AC Lemmer
The Netherlands
Tel: +31 (0) 514 56 18 54
Fax: +31 (0) 514 56 38 98
E-mail: mailbox@gitc.nl
Website: www.gitc.nl
Workshop Organising Committee
Olaf Hellwich, Berlin University of Technology, Germany
Ilkka Niini, Oy Mapvision Ltd., Finland
Camillo Ressl, Vienna University of Technology, Austria
Daniel Scharstein, Middlebury College, USA
Peter Sturm, INRIA, France
Program Committee
Niclas Börlin, Sweden
Yuri Boykov, Canada
Andrew Fitzgibbon, UK
Wolfgang Förstner, Germany
Armin Grün, Switzerland
Henrik Haggrén, Finland
Richard Hartley, Australia
Janne Heikkilä, Finland
Christian Heipke, Germany
Karsten Jacobsen, Germany
Karl Kraus, Austria
Kyros Kutulakos, Canada
Yi Ma, USA
Hans-Gerd Maas, Germany
Helmut Mayer, Germany
David Nistér, USA
Marc Pollefeys, USA
Richard Szeliski, USA
Bernhard Wrobel, Germany
Ramin Zabih, USA
INTRODUCTION
The workshop Towards Benchmarking Automated Calibration, Orientation and Surface Reconstruction from
Images (BenCOS) of the International Society for Photogrammetry and Remote Sensing (ISPRS) in
conjunction with the 10th IEEE International Conference on Computer Vision (ICCV 2005) focuses on
automatic methods for surface reconstruction from images, multi-view stereo, camera (self-) calibration, motion
estimation and related topics.
One major aim of the new commission III on Photogrammetric Computer Vision and Image Analysis is to bring
together researchers from the related fields, and let them benefit from mutual experience. The working groups
Automatic Calibration and Orientation of Optical Cameras and Surface Reconstruction are co-chaired by
researchers from the computer vision and photogrammetry communities.
Apart from being a forum for discussing new scientific results, the major goal of these working groups is to
establish true benchmarks for the performance evaluation of proposed methods. We believe this is a highly
important aspect of scientific research; it allows an objective comparison of different approaches, catalyzes
new developments, and eases the access of potential commercial users to these research areas and
communities. The motivation for this workshop is thus threefold:
•
communication of new scientific results in the related areas,
•
bringing together researchers from different communities, and
•
working towards the definition of benchmarks.
We received 17 contributions of which we were able to accept 10 as oral presentations. Reviewing was carried
out in a double-blind process by leading international researchers of the computer vision and photogrammetry
areas. Each full paper has been reviewed by 3 members of the program committee.
We hope that all workshop participants will leave Beijing with the most rewarding memories in the scientific,
technical and social aspects, and that those unable to attend will find the proceedings a valuable source of
information.
September 2005
Olaf Hellwich
Ilkka Niini
Camillo Ressl
Volker Rodehorst
Daniel Scharstein
Peter Sturm
TABLE OF CONTENTS
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1
Session 1: Orientation and Calibration
Chairman: Camillo Ressl
Automatic Image Sequence Registration Based on a Linear Solution and Scale Invariant
Keypoint Matching
Z. Shragai, S. Barnea, S. Filin, G. Zalmanson, Y. Doytsher, Technion, Israel . . . . . . . . . . . . . . . . .
5
Robust Least-Squares Adjustment Based Orientation and Auto-Calibration of WideBaseline Image Sequences
H. Mayer, Bundeswehr University Munich, Germany . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Global Uncertainty in Epipolar Geometry via Fully and Partially Data-Driven Sampling
C. Engels, D. Nistér, University of Kentucky, USA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Session 2: Performance Evaluation
Chairman: Peter Sturm
Measuring Complete Ground-Truth Data and Error Estimates for Real Video Sequences,
for Performance Evaluation of Tracking, Camera Pose and Motion Estimation Algorithms
R. Stolkin, A. Greig, J. Gilby, Stevens Institute of Technology, USA, University College London,
UK, Sira Ltd., UK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Performance Evaluation of a Localization System Relying on Monocular Vision and
Natural Landmarks
E. Royer, M. Lhuillier, M. Dhome, J.-M. Lavest, Université Blaise Pascal, France . . . . . . . . . . . . . . 31
Robust Metric Structure From Motion for an Extended Sequence with Outliers and
Missing Data
C.-M. Cheng, P.-H. Huang, S.-H. Lai, National Tsing Hua University, R.O.C. . . . . . . . . . . . . . . . . . . 37
Session 3: Surface Reconstruction
Chairman: Olaf Hellwich
Direct Shape from Isophotes
V. Dragnea, E. Angelopoulou, Stevens Institute of Technology, USA
. . . . . . . . . . . . . . . . . . . . . . . 45
Comparison of Photoconsistency Measures Used in Voxel Coloring
O. Özün, U. Yilmaz, V. Atalay, Middle East Technical University, Turkey, Berlin University of
Technology, Germany
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3D Surface Reconstruction Based on Combined Analysis of Reflectance and Polarisation
Properties: A Local Approach
P. d'Angelo, C. Wöhler, DaimlerChrysler Research and Technology, Germany
. . . . . . . . . . . . . . . 57
Comparative Study of Disparity Estimations with Multi-Camera Configurations in Relation
to Descriptive Parameters of Complex Biological Objects
M. Nielsen, H.J. Andersen, E. Granum, Aalborg University, Denmark . . . . . . . . . . . . . . . . . . . . . . . 63
Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69