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Fast Pose-Graph Generation for Structure-from-Motion
The goal is the develop an algorithm that builds a pose graph from an unordered set of images as fast as possible. This is achieved by, first, building a minimal spanning tree from the images exploiting predicted similarity scores. Then the spanning tree is populated with additional edges until the pose uncertainty falls below a threshold in each vertex. This procedure is very important for Structure-from-Motion algorithms where the first step is generated such pose graphs.
Keywords: pose graph, structure-from-motion, 3D reconstruction