Detector-Free Structure from Motion

Understand

We propose a new structure-from-motion framework to recover accurate camera poses and point clouds from unordered images.

• Traditional SfM systems typically rely on the successful detection of repeatable keypoints across multiple views as the first step, which is difficult for texture-poor scenes, and poor keypoint detection may break down the whole SfM system.
• We propose a new detector-free SfM framework to draw benefits from the recent success of detector-free matchers to avoid the early determination of keypoints, while solving the multi-view inconsistency issue of detector-free matchers.
• Specifically, our framework first reconstructs a coarse SfM model from quantized detector-free matches.