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Carl Olsson, Olof Enqvist,

Stable Structure from Motion for Unordered Image Collections

SCIA 2011 (pdf)

Code:

Here is the code that was used for the paper (with some minor changes). And here is a small data set to test it with.
Most of it is in matlab but in addition the following is needed:
The five point solver,
Lowe's SIFT implementation ,
VLfeat and
Mosek .
To run it, run the script reconstruct_scene.m. You will have to change the paths in corner/reconstr_setup.m to make it work. The code is supplied with absolutely no guarantees whatsoever and probably full of bugs. If you use it cite the paper. In the near future I am planning to update the rotation averaging routine which is not very good for large data sets it seems.

Datasets:

These are the datasets from the paper. Due to size limitations I cannot put the images here. Instead I have put the tracked image points (obtained after step 2 in the algorithm) and the final reconstruction. If you would like to have the images you will have to contact me.
The image point file contains a structure with the fields pointnr, points and index. The points-field contains the two-dim. coordinate for the point and the cooresponding position in the index field contains the number of the corresponding 3D point. The field pointnr is the total number of 3D-points.

The Arch of Triumph, Paris.
Image points and final reconstruction.

Vercingetorix, Clermond-Ferrand.
Image points and final reconstruction.

Alcatraz, San Francisco.
Image points and final reconstruction.

Stockholm City Hall.
Image points and final reconstruction.

The Cathedral of Lund. I somehow managed to overwrite this data with somthing else. So I will have to re-run it before putting it here...

Address: Centre for Mathematical Sciences, Lund University, PO Box 118, 221 00 Lund, Sweden
Phone: +46 46 222 85 65, Fax: +46 46 222 40 10
E-mail: calle@maths.lth.se