Structure from Motion Estimation with Positional Cues

We present a system for structure from motion estimation using additional positioning data such as GPS data. The system incorporates the additional data in the outlier detection, the initial estimates and the final bundle adjustment. The initial solution is based on a novel objective function which is solved using convex optimization. This objective function is also used for outlier detection and removal. The initial solution is then refined based on a novel near L 2 minimization of the reprojection error using convex optimization methods. We present results on synthetic and real data, that shows the robustness, accuracy and speed of the proposed method.

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