Multi-View Stereo.pdf

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Multi-View Stereo: A Tutorial

Multi-View Stereo: A Tutorial Yasutaka Furukawa Washington University in St. Louis furukawa@wustl.edu Carlos Hernández Google Inc. carloshernandez@google.com Boston — Delft

Foundations and Trends R in Computer Graphics and Vision Published, sold and distributed by: now Publishers Inc. PO Box 1024 Hanover, MA 02339 United States Tel. +1-781-985-4510 www.nowpublishers.com sales@nowpublishers.com Outside North America: now Publishers Inc. PO Box 179 2600 AD Delft The Netherlands Tel. +31-6-51115274 The preferred citation for this publication is Y. Furukawa and C. Hernández . Multi-View Stereo: A Tutorial. Foundations and Trends R in Computer Graphics and Vision, vol. 9, no. 1-2, pp. 1–148, 2013. This Foundations and Trends R issue was typeset in LATEX using a class ﬁle designed by Neal Parikh. Printed on acid-free paper. ISBN: 978-1-60198-836-2 c 2015 Y. Furukawa and C. Hernández All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, mechanical, photocopying, recording or otherwise, without prior written permission of the publishers. Photocopying. In the USA: This journal is registered at the Copyright Clearance Cen- ter, Inc., 222 Rosewood Drive, Danvers, MA 01923. Authorization to photocopy items for internal or personal use, or the internal or personal use of speciﬁc clients, is granted by now Publishers Inc for users registered with the Copyright Clearance Center (CCC). The ‘services’ for users can be found on the internet at: www.copyright.com For those organizations that have been granted a photocopy license, a separate system of payment has been arranged. Authorization does not extend to other kinds of copy- ing, such as that for general distribution, for advertising or promotional purposes, for creating new collective works, or for resale. In the rest of the world: Permission to pho- tocopy must be obtained from the copyright owner. Please apply to now Publishers Inc., PO Box 1024, Hanover, MA 02339, USA; Tel. +1 781 871 0245; www.nowpublishers.com; sales@nowpublishers.com now Publishers Inc. has an exclusive license to publish this material worldwide. Permission to use this content must be obtained from the copyright license holder. Please apply to now Publishers, PO Box 179, 2600 AD Delft, The Netherlands, www.nowpublishers.com; e-mail: sales@nowpublishers.com

Foundations and Trends R in Computer Graphics and Vision Volume 9, Issue 1-2, 2013 Editorial Board Editors-in-Chief Brian Curless University of Washington United States William T. Freeman Massachusetts Institute of Technology United States Editors Luc Van Gool KU Leuven, Belgium ETH Zurich, Switzerland Marc Alexa TU Berlin Ronen Basri Weizmann Institute Peter Belhumeur Columbia University Andrew Blake Microsoft Research Chris Bregler New York University Joachim Buhmann ETH Zurich Michael Cohen Microsoft Research Paul Debevec USC ICT Julie Dorsey Yale University Fredo Durand MIT Olivier Faugeras INRIA Mike Gleicher University of Wisconsin Richard Hartley ANU Aaron Hertzmann Adobe Research, USA Hugues Hoppe Microsoft Research C. Karen Liu Georgia Tech David Lowe UBC Jitendra Malik UC Berkeley Steve Marschner Cornell University Shree Nayar Columbia University James O’Brien UC Berkeley Tomas Pajdla Czech TU Pietro Perona Caltech Marc Pollefeys ETH Zurich Jean Ponce Ecole Normale Supérieure Long Quan HKUST Cordelia Schmid INRIA Steve Seitz University of Washington Amnon Shashua Hebrew University Peter Shirley University of Utah Stefano Soatto UCLA Richard Szeliski Microsoft Research Joachim Weickert Saarland University Song Chun Zhu UCLA Andrew Zisserman University of Oxford

Editorial Scope Topics Foundations and Trends R in Computer Graphics and Vision publishes survey and tutorial articles in the following topics: • Rendering • Shape • Mesh simpliﬁcation • Animation • Sensors and sensing • Image restoration and enhancement • Segmentation and grouping • Feature detection and selection • Color processing • Texture analysis and synthesis • Illumination and reﬂectance modeling • Motion estimation and registration • Stereo matching and reconstruction • 3D reconstruction and image-based modeling • Learning and statistical methods • Appearance-based matching • Object and scene recognition • Face detection and recognition • Activity and gesture recognition • Image and video retrieval • Video analysis and event recognition • Medical image analysis • Robot localization and • Shape representation • Tracking • Calibration • Structure from motion Information for Librarians Foundations and Trends R in Computer Graphics and Vision, 2013, Volume 9, 4 issues. ISSN paper version 1572-2740. ISSN online version 1572-2759. Also available as a combined paper and online subscription. navigation

Foundations and Trends R in Computer Graphics and Vision Vol. 9, No. 1-2 (2013) 1–148 c 2015 Y. Furukawa and C. Hernández DOI: 10.1561/0600000052 Multi-View Stereo: A Tutorial Yasutaka Furukawa Washington University in St. Louis furukawa@wustl.edu Carlos Hernández Google Inc. carloshernandez@google.com

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