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Robust Scene Stitching in Large Scale Mobile Mapping

Filip Schouwenaars, Radu Timofte and Luc Van Gool
British Machine Vision Conference (BMVC 2013)
Bristol, England, September 2013

Abstract

We provide a solution for the loop closure problem in an image-based mobile mapping context. A van drives through a city while taking images in multiple directions. Local feature matching in two stages detects when a particular site is revisited, in order to enforce correspondences between such images, that may have been taken with large time lapses in between. Our system relies on GPS but does not use odometric information. We extend the original image-to-image matching approach to a pose-to-pose matching approach, combining several images and achieving robust scene matching results. Parameter optimization is followed by extensive experiments. Our pipeline, which facilitates parallel execution, reaches matching rates higher than those reported for typical state-of-the-art algorithms. We also demonstrate robustness to odometric inconsistencies resulting from poor prior model build-up.


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@InProceedings{eth_biwi_01049,
  author = {Filip Schouwenaars and Radu Timofte and Luc Van Gool},
  title = {Robust Scene Stitching in Large Scale Mobile Mapping},
  booktitle = {British Machine Vision Conference (BMVC 2013)},
  year = {2013},
  month = {September},
  keywords = {}
}