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arXiv · 2409.02310

Geometry-Aware Feature Matching for Large-Scale Structure from Motion

Gonglin Chen·Jinsen Wu·Haiwei Chen·Wenbin Teng·Zhiyuan Gao·Andrew Feng·Rongjun Qin·Yajie Zhao
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Abstract

Establishing consistent and dense correspondences across multiple images is crucial for Structure from Motion (SfM) systems. Significant view changes, such as air-to-ground with very sparse view overlap, pose an even greater challenge to the correspondence solvers. We present a novel optimization-based approach that significantly enhances existing feature matching methods by introducing geometry cues in addition to color cues. This helps fill gaps when there is less overlap in large-scale scenarios. Our method formulates geometric verification as an optimization problem, guiding feature matching within detector-free methods and using sparse correspondences from detector-based methods as anchor points. By enforcing geometric constraints via the Sampson Distance, our approach ensures that the denser correspondences from detector-free methods are geometrically consistent and more accurate. This hybrid strategy significantly improves correspondence density and accuracy, mitigates multi-view inconsistencies, and leads to notable advancements in camera pose accuracy and point cloud density. It outperforms state-of-the-art feature matching methods on benchmark datasets and enables feature matching in challenging extreme large-scale settings.

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Gonglin Chen, Jinsen Wu, Haiwei Chen, Wenbin Teng, Zhiyuan Gao, Andrew Feng, Rongjun Qin, Yajie Zhao. 2025-05-12. Geometry-Aware Feature Matching for Large-Scale Structure from Motion. https://arxiv.org/abs/2409.02310

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