A generic structure-from-motion algorithm for cross-camera scenarios
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(408) TD=3î><WYZLfVõ7ëKMP8;=3î>E;ë kTD8;G>8;G>HY9O>L"Ykø4T3TDõM9L
(409) 6ZôDLNV îÍTj8FGIY)M
(410) R wGùx)û (,þòø4L4î69TjîÍTIMPL4?[=3Tj69L4HDLfG>L
(411) 6)?AEW?Aîî>69TI?Dð)OUòfY9OÍ?,YnVWT7LfMG>TDY¼69%L !j<8F6ZL:7G>T,øE;LfVWHjL TAïYZO>LÇð
(412) ?DEF8;õ>6)?,YZ8FTjGÏTD-õ kLfðcY 5 M"VW8}M9î>E;?jð#Lf=LfGIYf#R wGÎY9O?AY ð
(413) ?DM9LDòYZO>69LfL38F=@?AHjLfM¿G>LfLfVÎY9T+õL YZ?A:jL
(414) GÇ?AYEFLN?DMPYfR O>Lï¾?jðcYYZO?,Y?AE;E îTD8;GIYZMnTjõM9L
(415) 6ZôDLfVõ7ë3?(î>8 7LfEÍ8;GKVW8Fí/L
(416) 6ZL
(417) GIYô78FLføCM
(418) ò Y9?AO>6ZL4L4Tjð
(419) ?AG=3?¿LfE;6Z8FG?6L5 M8FðfG ?AE; 8Fõ> 6)ò,?,HDYZ8;8FôDTjLNGUM¼R?"Oð#TDLGÍð#MkTjYZG6ZMk?DYZ8F6ZGI?DY 8FGIY9OYU?A8}MYï½?ATjE;69EFT,=ËøC<>ME;?AY9Y9T(LN6ZV"LfôIð
(420) T,8}?CôDLf?C6M9õL#YTAYZTAOËï7Y9YZ6ZO>8~Lï½TW=3ðf?ATAEAYZYZ8FL
(421) TjGGM9?DTDG6)MfV ò Y9O?AY¼ðf?AGõÍLLNMkYZ8F=@?,YZLfVËEF8;G>LN?A6ZEFëjò?DGV ï½69Tj=ÖøO>8;ð)O=3TAYZ8FTjGUòA?AGV$Y9O>LfG@ð
(422) ?AE;8;õ>6Z?AY98;TDGUòð
(423) ?DG õÍL(L IYZ6Z?jðcYZLfV ¾VWL
(424) YZ?A8;E}M?A6ZL¿Hj8FôjL
(425) G8FGìùx'û &D@þ #R 87 9 340234;:=<>0#(*&10#3? "ÎL4VWLfMZð#6Z8FõLnO>T,ø YZTÁLfMPY98;=@?,YZLnL
(426) HjTAó=TDY98;TDGUò
(427) TD6Nò
(428) =3TD6ZL¼HDLfG>L
(429) 6)?AE;EFëjò
(430) 6ZL
(431) E}?,YZ8FôjL¼îÍTIMP8FY98;TDG$?DGV TD6Z8FLfGjY)?,YZ8FTjG(TAï>Ykø4T[ðf?AE;8Fõ>6)?,YZLfV(HjL
(432) G>Lf6Z?DEjðf?A=3L
(433) 6)?DMfR%O8;M8;MVWTjG>L4ôI8}?Á?ÁHDLfG>L
(434) 6)?AE;84 N?,YZ8FTjG(TAï Y9O>L3ð#E}?DMZMP8}ð
(435) ?DE=3TAYZ8FTjGñLfMPY98;=@?,YZ8FTjGñî>6ZTDõ>E;L
(436) = ï½TD6¿î>8;G>O>TjEFLð
(437) ?A=3Lf6Z?jMÁ?AGÍVÙ8~Y)M[?jM9M9TWð#8}?,YZLfV î>ð#L
(438) 69GITjYZõ>L
(439) E;6ZL
(440) î>= 8FLN8;ð#MLj<òM9YZ<O>?ALE;EFë(LfMZM9MPTDLfE;GjôDYZLN8;VË?DEù;üN=@û,þ?ARY9SU6Z8 L
(441) /Y @ ù;.ü &DõÍþLR Y9" OLL6Zõ>TA6ZYZ8;?A%L Y9$8;TDë×G(M9=@<>=3?,YZ=@698 ?A(6Z?A48 fGLKBV O>AìT,ø YZO>LnYZO>YZL+6Z?Dð#GE}M9?DE;MZ?AMPY98}8;ð
(442) TD?DG E ôDð
(443) ?ALfG@ð#Y9Tjõ6[LCVWLNMkLNYZM98Fð
(444) =@698;?,õ>YZ8;LfG>V@H@<ÍY9OMP8;L G>H(=3îTATDYZ8F8;TjGjGUYR ð#Tj69O6ZL LfM9LfîÍMZTjM9GL
(445) GIVWY9Lf8}G?Að#ELN=3LM ?AK.MOY96ZNP8M4+Q8Rn8}M[?jð#VW6ZL
(446) Tj÷MZG>M LNYkVÏøT(?DDM ô78;C L
(447) øC FMfòDE<AHM9GJ8;I?G>H(@Y9R OLY L
(448) î>8;îÍTjE;?D6ð#TjGMPY96)?A8;GjY M?QS6CBM UT>.R O8;Mð
(449) ?AG(õLV>TDG>LnE;8;G>Lf?D69E;ëÁ<M98;G>HCýCð#Tj696ZLfM9îTDGVWLfGð#LNM TD6U=3TD6ZLD.R wG"Y9O>L=8;G>8;=@?AEjðf?DM9L¼TA-ï (ð#Tj696ZLfM9îTDGVWLfGð#LNM
(450) ò#?DG"%L -Çð#8;L
(451) GIYG>TjGWóEF8;G>Lf?D6U=38FG8F=@?AE ?AE;HDTD6Z8FY9O>=+òDøO8;ð)O@Hj8FôjLfMnL >?DðcYZEFëËY9OLCY9OL
(452) TD6ZL#YZ8;ðf?AEÍ=3? W8F=Ë<>=úTAï¼)ü "ï½LN?DM98FõEFL¿MPTjEF<WYZ8FTjGMfò ø4=?jTDM(Y98;TDTDG>GE;ëî?A696)LN?Að#=3L
(453) GIL
(454) YZY9EFL
(455) ë 6)MV8FGI@ YZ69?ATWGÍVWVW<ð
(456) AÓLfVØð
(457) ?Dù;üG AõþR L(&[LG7ð#YZ6ZL@?jYZðcO>Y9LNLKVKLN6ZM9L
(458) M9E}L
(459) ?,GIYZYZ8F8;ôj?DL
(460) EnE;ëÇ=@Mk?,YZY96Z6Z?D8 8F HjOI8}M$YPï½TDLN6ZMkYZø8F=@?A6)?,VWYZEFLfëVù;òü ,Y9OþR L MP8;=3w8FE}Gö?A6ZY9EFO>ëjòjL<Íð
(461) MP?j8;G>MPLHTAî>ïC8 WTDLf<E/6 ð
(462) TDHD6ZLf69G>LNL
(463) MPî6)?ATDEGÍ8FVW=@L
(464) G?Dð
(465) HDLf8;G>DM HñK.MO=3NPM4TWQ.VWR#L
(466) R EX[òMP=38;G>TDHËY98;Y9TDO>G×L(LNðfMk?AYZE;8F8F=@õ>6)?,?,YZYZ8FTj8FTjG×GÇ8}8;M GWï½îTDL
(467) 6Z69=@ï½TD?,6ZY9=38;TDLfGV ò ".
(468) Y9O>L4?DMZMPTWð#8}?,YZLfV¿î>6ZT kLNðcY98;TDG"6)?ëWMUð
(469) ?DG(õÍLð
(470) TD=3î><WYZLfVRSUL
(471) YUY9OL
(472) =ÓõÍL69Lfî>6ZLfM9L
(473) GIY9LNV[õ7ë[Y9O>Lf8F6 XnE Íð):DL
(474) 6Ëð#T7TD6)VW8;G?,YZLfMfòU8zR LDR (,óôDLNðcY9Tj6ZM ?DGV Q½R O>LÇLfî>8FîTDE}?A6Ëð#TDGÍMkYZ6Z?D8FGIY$L 7YZL
(475) GV>M G?,YZ<>6Z?DEFE;ë@YZT6)?ëWM
(476) òW?DGVK=@?DG>8~ï½LNMkY)M8FYZM9L
(477) EFï õ7ëK? 3LfMZMPLfGjYZ8;?DE/=3?AY96Z8 ò>VWL
(478) ÷G>LNV?j.M . . . . . @ HC T @ O>L Lfî>8FîTDE}?A6"ð#TjGMPY96)?A8;GjYÁY9O>LfGÏø6Z8~YZLfM Q S.
(479). =TDY98;TDG+ð
(480) ?DG?AHI?A8;GKõL"L7Y96)?Dð#Y9LfVMkYZ6Z?D8FHjOIYPï½TD6Zø?A6)VWEFë ½LjR TñHÍRFò)ùxûD@ÖûþRðf?A&[G+GMPð#8;L =3î>E;8}ëÇMÁõÍLNL"MkYZ6Z8F=@Lf?j?,VÇYZLfTAVí ò * cRS8FGLf?A6LNMkYZ8F=@?AY98;TDGTAï 6ZL !I<>8;6ZLfM¿/ü ð#Tj696ZLfM9îÍTjGVWLfGð#LNM
(481) R G>TDGWówð#O>LfL
(482) GI6ZY9L(6)?A8;EUMÁð
(483) ?A?DGÙ=38;L
(484) =6)?DîMTDI69øYZ?D8FGIY9OÙYÁVWð
(485) L
(486) 8~í/GIL
(487) Y96Z6)L
(488) ?AGÍEð#ðfL$?A=3õL#L
(489) Yk6)ø4?DMfL
(490) òILfGY9O>=3L"TDYZ6ZY9?D8;TDGGÙM9E;Lf?AMPY9Y98;TD8;=@G+?,ð#YZTD8FTj=3Gîï½TDTjG>6ÁLfGIð#LfYÁGIð
(491) Y9?A6)G?AETD?DGGEFVë õÍL¿69LNð#T,ôjL
(492) 6ZLfV3<>îKY9T3M9ðf?AE;LDR7ÿCTDG>óð
(493) L
(494) GIY96)?AEð
(495) ?A=3Lf6Z?jMnO>T,ø4L
(496) ôjL
(497) 6Nòj?AE;E;T,øØY9T3VWL#YZL
(498) 6Z=8;G>L¿L
(499) ôjL
(500) G Y969O>LN?DLVWYZë@6Z?Dð
(501) G?DM969E;6Z?A8;Y9Lf8;MTDGMZð
(502) 5 Mn?DEFMZL¿ð
(503) ?A8;GWE;LDï½TDR 6Z=@O>?,8;MnY98;8;TDMG õͽLNô7ð
(504) 8;?A? <ÍY9MPOLÁL¿?(VWM98}8;MPG>YZHD?AE;GÍLCð#ð
(505) L¿?DõÍEF8;L
(506) õ>Yk6)ø?,Y9LfLNL
(507) VGKG>=ËTD<WGWY9ów<Íð#Lf?AGIE;EFY9ëÇ6)?AM9E>:Dð
(508) Lf?DøÈ=3î>L
(509) 696))T ?(kLf?Að#EFóó Y98;TDG36Z?ëW M cR &[G>LCð
(510) TDGM9L !I<>LfGð#L8}MYZO?,YnYZO>LY9OL
(511) TD6ZL#YZ8;ðf?AE>=38;G>8;= <>= G7<>= õL
(512) 6nTDï6ZL !I<>8;6ZLfV ð#TD6Z6ZLfM9îÍTjGVWL
(513) GÍð#LfM8;#M (Ë8FGÍMkYZLf?DVKTAï (>R Y=38;HDOIYõÍL¿îÍTIM9M98;õ>EFLjòIY9O>Tj<>HDOôDL
(514) 6Zë38FG7ôjTDE;ôDLfVUòDYZT VWL
(515) 6Z8FôjL[?Ë=38FG>8;=@?AE (AóîTD8;GIY=3L#YZO>TWV?DEFTjG>H$YZO>L[E;8;G>LfM4TAï4ùF%ü ,þR ê TD6ZL[VWL
(516) YZ?A8;E}MTjGK=3TAYZ8FTjG LfMPY98;=3?AY98;TDG+?A6ZL"TD=38~Y9Y9LNVV><>L"Y9T3E}?Dð):ÇTDï M9î?Dð
(517) LDR . . . . . 0> " 0 ! " 3 4 !#&) /,#&)02#3?. ÎLG>T,ø×VWLNM9ð
(518) 698;õL4?DGË?AE;HDTj698FY9O= ï½Tj6 69LNð#TjGMkYZ69<ÍðcY98;TDG$ï½69Tj=ÓYkøT[TD6=3TD6ZLð
(519) ?DEF8;õ>6)?,YZLfV 8F=@?AHjLfM ø8FY9O3:7G>T,øGË6ZL
(520) E}?,YZ8FôjLîTjM98FY98;TDGURASL#Y K N N DR S3õÍLC? îTD8;GIYY9O?AYn8;M YZT õÍLË69LNð#TDGÍMkYZ69<ð#Y9LNVòõ?jMPLNV+TDGñ8FYZM[î>6ZT kLNðcY98;TDGÍM8FG ö8F=@?AHjLfMfR4X[MP8;G>HKðf?AE;8Fõ>6)?,YZ8FTjGÙ8FG>ï½TD69ó =3?AY98;TDGUòDøLð
(521) ?DGð
(522) TD=3î><WYZLY9O>L +?DMZM9T7ð
(523) 8;?AY9LNV$î>6ZT kLNðcY98;TDG6)?ë7MfR CLf69LjòAøL6ZL
(524) î>6ZLfM9L
(525) GIYY9OL YZOK9R6)" ?ë3LË<?DMPî>8;G>î>HE;ë?ËY9O>MPYZLË?D6P=YZ8F8}G>V7HËóîÍîÍTjTj8FGI8FGIY"Y =3L#Y9O?AT7GÍV×V@Y9ùFüjOüDL¿òZVWûjû8;6ZþLfò>ðc8YZR Lj8FTjRGUVWò7L
(526) 69Y9LfLfî>69=36ZLf8;M9G>L
(527) LGIY9LNV3YZõIOëÇ?,Y"?Ë8;M¿<>G>ð#8FE;YTjM9ôDLfLfMPð#YÁY9Tj8;G 6 î?ôD?AL
(528) 6)6)?A?A=3HjL#L@YZL
(529) Y96)T M YZO> L R O>6)L
(530) ?GUë7ò MfRSU8;L#MËY@VW<L#M3YZL
(531) 6Z6ZL
(532) =î698;G>LNMPLNLfVöGjY3õ7ëÎHDLf=3G>L
(533) 8;G>6Z8}8FðK=3î=8
(534) TD8;G>8;GIHÙYZM3YZO>TDLÇG ï½Tj6Z?EFE;ëWT,Mø8F<GM9HÙ8FGLHÎWî>î6ZTjLfM9MZ8~YZMP8F8;TjTDGG T,ôDL
(535) 6 %N N ?AGVY9OL J \,R O>8;MU8;M?EF8;G>LN?A6UE;Lf?jMkY3M !I<?A6ZLfM/î69Tjõ>EFLf=+ò#øO>8}ð)O$ð
(536) ?AG(õLM9TDE;ôDLNV[LjR HÍR
(537) ô78}?4Y9O>LnXMPLf<VWTAó wGIôjL
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(539) 8~YCL%!I<?,YZ8FTjG zVWL
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(553) ?DGKõL[îL
(554) 69ï½TD6Z=3LfVÇôjL
(555) 6Zë3L%-Çð#8;L
(556) GIY9E;ëDòW?jM YkëIî8;ðf?AE;EFë(VWTjG>L8;Gõ><>GVWE;L?DV/k<MPY9=3LfGjYùxû NþR'&[ôDLf6Z?DEFEò#YZO>LYZ698}?AGHD<>E}?,YZ8FTjG$TAïÍ? îTD8;GIY <?AGMP8;VKG> H Y9O>ÇL(6Z8;?G7ëWôDMfLfòf6ZðfM9?A8FTjG$GKõ7TDë$ïð
(557) ?3?D69M96ZëI8;=3LfV"=3TDL#<>YZY698}ôDð Lf69ë"EL -@ð
(558) =@8FLf?,GIYZY969E;8 ëDò<zVWM98FL#G>Y)H[?A8;TDE;MG>E;Tjë"=3=@8~Y9?,Y9Y9Lf6ZV 8 " cR =Ë<>EFY98;î>EF8}ð
(559) ?AY98;TDGM H. gK. ih. . 3?<%:D<202(*&10#3?. X õÍL
(560) TIYkMPøLLfLfL
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(562) = MkYZ69TA<ïð#ð
(563) Y9TD<>=36ZLDî>òW<W?DYZG8FG>VÇHÁ?Y9O>ð
(564) ?AL4E;6Z8;õ>L
(565) 6ZE}?,?AY9Y98;LNôDVÇLð
(566) îÍ?DTI=MP8FLfY98;6ZTD?G R)" ?DGL(V"VWTDTD6ZG8;L
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(569) G>LNM9MfR E;8~YZL
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(573) Y9?DLNM9VL$òð
(574) <>?DîÙGÙY9õÍTL?@MPTj÷EFGôj8~LfYZVLËï½G7TD<>6Á=ËHDõÍL
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(579) îòWTDîGTjVWM9L LfGð
(580) ð#?DLNG M ókû ?AE;69LN?DVWëjBR O>L MZ?A=3L(O>TjE;VMï½TD6[HDL
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