%PDF-1.3 1 0 obj << /Kids [ 3 0 R 4 0 R 5 0 R 6 0 R 7 0 R 8 0 R 9 0 R 10 0 R 11 0 R ] /Type /Pages /Count 9 >> endobj 2 0 obj << /Title (Structure From Motion Using Structure\055Less Resection) /Producer (PyPDF2) /Author (Enliang Zheng\054 Changchang Wu) /Subject (2015 IEEE International Conference on Computer Vision) >> endobj 3 0 obj << /Parent 1 0 R /Rotate 0 /Contents 13 0 R /Resources << /XObject << /x8 14 0 R /R32 17 0 R /x6 18 0 R /R41 21 0 R /R40 22 0 R /R39 27 0 R /R34 25 0 R /x12 34 0 R /R33 26 0 R /x10 37 0 R >> /ExtGState << /s9 40 0 R /s5 43 0 R /s7 46 0 R /s11 49 0 R /R38 23 0 R /a0 << /CA 1 /ca 1 >> /R22 52 0 R /R31 24 0 R >> /Font << /R29 53 0 R /F2 57 0 R /R35 29 0 R /R23 58 0 R /R44 61 0 R /R25 64 0 R /R42 68 0 R /R27 71 0 R /F1 74 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /Group 33 0 R /MediaBox [ 0 0 612 792 ] /Annots [ 75 0 R 76 0 R 77 0 R 78 0 R 79 0 R 80 0 R 81 0 R 82 0 R 83 0 R 84 0 R 85 0 R 86 0 R ] /Type /Page >> endobj 4 0 obj << /Parent 1 0 R /Rotate 0 /Contents 87 0 R /Resources << /XObject << /R89 88 0 R /R88 89 0 R /R85 98 0 R /R84 99 0 R >> /ExtGState << /R73 100 0 R /R22 52 0 R /R38 23 0 R /R96 101 0 R /R31 24 0 R >> /Font << /R78 102 0 R /R71 106 0 R /R44 61 0 R /R76 109 0 R /R42 68 0 R /R74 113 0 R /F2 117 0 R /F1 118 0 R /R90 119 0 R /R82 90 0 R /R92 122 0 R /R80 126 0 R /R94 130 0 R /R86 94 0 R /R97 133 0 R /R25 64 0 R /R65 137 0 R /R67 142 0 R /R23 58 0 R /R69 146 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /Group 33 0 R /MediaBox [ 0 0 612 792 ] /Annots [ 150 0 R 151 0 R 152 0 R 153 0 R 154 0 R 155 0 R 156 0 R 157 0 R 158 0 R 159 0 R 160 0 R 161 0 R ] /Type /Page >> endobj 5 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 162 0 R /Resources << /ExtGState << /R73 100 0 R /R22 52 0 R >> /Font << /R127 163 0 R /R71 106 0 R /R69 146 0 R /R44 61 0 R /R42 68 0 R /R65 137 0 R /R131 166 0 R /R67 142 0 R /F1 171 0 R /R123 172 0 R /F2 176 0 R /R125 177 0 R /R25 64 0 R /R23 58 0 R /R129 180 0 R /R97 133 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 183 0 R 184 0 R 185 0 R 186 0 R 187 0 R 188 0 R 189 0 R 190 0 R 191 0 R 192 0 R 193 0 R 194 0 R 195 0 R 196 0 R 197 0 R 198 0 R 199 0 R 200 0 R 201 0 R ] >> endobj 6 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 202 0 R /Resources << /ExtGState << /R22 52 0 R >> /Font << /F2 203 0 R /R152 204 0 R /R150 207 0 R /R69 146 0 R /R71 106 0 R /R42 68 0 R /R65 137 0 R /R131 166 0 R /R67 142 0 R /F1 212 0 R /R90 119 0 R /R23 58 0 R /R25 64 0 R /R97 133 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 213 0 R 214 0 R 215 0 R 216 0 R 217 0 R 218 0 R 219 0 R 220 0 R 221 0 R 222 0 R 223 0 R 224 0 R ] >> endobj 7 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 225 0 R /Resources << /ExtGState << /R22 52 0 R >> /Font << /R127 163 0 R /R152 204 0 R /R150 207 0 R /R69 146 0 R /R71 106 0 R /R67 142 0 R /R65 137 0 R /R131 166 0 R /R125 177 0 R /F1 226 0 R /F2 227 0 R /R23 58 0 R /R25 64 0 R /R129 180 0 R /R97 133 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 228 0 R 229 0 R 230 0 R 231 0 R 232 0 R 233 0 R 234 0 R 235 0 R ] >> endobj 8 0 obj << /Parent 1 0 R /Rotate 0 /Contents 236 0 R /Resources << /XObject << /R188 237 0 R /R183 247 0 R /R184 248 0 R /R187 238 0 R >> /ExtGState << /R22 52 0 R /R38 23 0 R /R31 24 0 R >> /Font << /R181 239 0 R /F2 249 0 R /R185 243 0 R /R150 207 0 R /R69 146 0 R /R71 106 0 R /R65 137 0 R /R67 142 0 R /F1 250 0 R /R82 90 0 R /R23 58 0 R /R25 64 0 R /R152 204 0 R /R97 133 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /Group 33 0 R /MediaBox [ 0 0 612 792 ] /Annots [ 251 0 R 252 0 R 253 0 R 254 0 R 255 0 R 256 0 R 257 0 R 258 0 R 259 0 R 260 0 R ] /Type /Page >> endobj 9 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 261 0 R /Resources << /ExtGState << /R22 52 0 R >> /Font << /F2 262 0 R /R206 263 0 R /R69 146 0 R /R71 106 0 R /R42 68 0 R /R65 137 0 R /R131 166 0 R /R67 142 0 R /F1 267 0 R /R23 58 0 R /R25 64 0 R /R97 133 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 268 0 R 269 0 R 270 0 R 271 0 R 272 0 R 273 0 R 274 0 R 275 0 R 276 0 R 277 0 R ] >> endobj 10 0 obj << /Parent 1 0 R /Rotate 0 /Contents 278 0 R /Resources << /XObject << /R248 279 0 R /R238 280 0 R /R237 283 0 R /R247 296 0 R /R249 297 0 R /R250 298 0 R >> /ExtGState << /R22 52 0 R /R38 23 0 R /R31 24 0 R >> /Font << /R78 102 0 R /R44 61 0 R /R239 299 0 R /R221 302 0 R /R235 284 0 R /R223 305 0 R /R233 288 0 R /R42 68 0 R /R231 292 0 R /R225 309 0 R /F2 312 0 R /F1 313 0 R /R90 119 0 R /R227 314 0 R /R94 130 0 R /R243 317 0 R /R97 133 0 R /R245 320 0 R /R217 323 0 R /R23 58 0 R /R241 327 0 R /R25 64 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] /ColorSpace << /R220 330 0 R /R216 332 0 R /R230 281 0 R >> >> /Group 33 0 R /MediaBox [ 0 0 612 792 ] /Annots [ 334 0 R 335 0 R 336 0 R ] /Type /Page >> endobj 11 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 337 0 R /Resources << /ExtGState << /R22 52 0 R >> /Font << /R29 53 0 R /F2 338 0 R /R23 58 0 R /F1 339 0 R /R25 64 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ ] >> endobj 12 0 obj << /Type /Catalog /Pages 1 0 R >> endobj 13 0 obj << /Length 15063 >> stream q q q 0.10000 0 0 0.10000 0 0 cm /R22 gs 0 g q 10 0 0 10 0 0 cm BT /R23 14.34620 Tf 1 0 0 1 132.45300 675.06700 Tm [ (Structur) 18.01250 (e) -249.99900 (fr) 18.00650 (om) -250.00800 (Motion) -250 (Using) -249.99100 (Structur) 18.01160 (e\055less) -249.99100 (Resection) ] TJ /R25 11.95520 Tf 71.66290 -37.85820 Td [ (Enliang) -249.98500 (Zheng) ] TJ -79.45310 -13.94690 Td [ (The) -250.01400 (Uni) 24.99460 (v) 14.98620 (ersity) -249.98900 (of) -250.01400 (North) -250.01600 (Carolina) -250 (at) -249.98700 (Chapel) -249.99300 (Hill) ] TJ /R27 8.96640 Tf 69.08830 -13.94800 Td (ezheng\100cs\056unc\056edu) Tj /R25 11.95520 Tf 196.75200 27.89490 Td [ (Changchang) -249.98900 (W) 50.00360 (u) ] TJ 22.11090 -13.94690 Td (Google) Tj /R27 8.96640 Tf -22.75120 -13.94800 Td (ccwu\100google\056com) Tj /R23 11.95520 Tf -243.86800 -41.04610 Td (Abstract) Tj /R29 9.96260 Tf -83.92810 -24.32810 Td [ (This) -377.00300 (paper) -377.01800 (pr) 44.98390 (oposes) -375.99200 (a) -376.99100 (ne) 15.01830 (w) -376.98200 (incr) 36.98770 (emental) -377.01600 (structur) 37.01340 (e) -377 (fr) 44.98510 (om) ] TJ -11.95470 -11.95510 Td [ (motion) -474.00600 (\050SfM\051) -473.99200 (algorithm) -473.98800 (based) -473.98200 (on) -473.99000 (a) -473.99400 (no) 10.00810 (vel) -474.00200 (structur) 37.01340 (e\055less) ] TJ 11.95470 TL T* [ (camer) 14.98340 (a) -386.98900 (r) 37.01960 (esection) -387.01600 (tec) 15.01590 (hnique) 15.00120 (\056) -719.99500 (T) 54.98590 (r) 14.98400 (aditional) -387.01900 (methods) -387.00700 (r) 37.01830 (ely) -386.99700 (on) ] TJ 11.95630 TL T* [ (2D\0553D) -322.01200 (corr) 36.98710 (espondences) -322.00500 (to) -322.01200 (compute) -322.00900 (the) -322.01700 (pose) -322.99300 (of) -322.01200 (candidate) ] TJ 11.95470 TL T* [ (camer) 14.98340 (as) -425.99600 (using) -424.99900 (PnP) 135.00900 (\056) -426.00500 (In) -426.00600 (this) -425.98200 (work\054) -468.99800 (we) -425.99800 (tak) 10.00570 (e) -426.01200 (the) -426 (collection) ] TJ T* [ (of) -435.99300 (alr) 36.99260 (eady) -436.00400 (r) 37.01960 (econstructed) -436.99600 (camer) 14.98280 (as) -435.99500 (as) -435.99500 (a) -436 (g) 10.00320 (ener) 15.01960 (alized) -436.99800 (cam\055) ] TJ T* [ (er) 15.01890 (a\054) -400.98500 (and) -370.98200 (determine) -371.01500 (the) -370.99000 (absolute) -371 (pose) -372.00400 (of) -370.98500 (a) -370.99200 (candidate) -371.00400 (pin\055) ] TJ T* [ (hole) -271 (camer) 14.98340 (a) -271.00900 (fr) 44.98640 (om) -269.98700 (pur) 36.99020 (e) -271.01800 (2D) -271.00600 (corr) 36.98650 (espondences\054) -276.01000 (whic) 15 (h) -271.00900 (we) -271.00400 (call) ] TJ T* [ (it) -346.98700 (semi\055g) 10.01180 (ener) 15.01960 (alized) -347.01400 (camer) 14.98280 (a) -346.99600 (pose) -346.00800 (pr) 44.98390 (oblem\056) -601.02000 (W) 91.98710 (e) -347.00600 (pr) 36.98650 (esent) -346.99100 (the) ] TJ 11.95590 TL T* [ (minimal) -242.98100 (solver) 10.01430 (s) -243.01200 (of) -243.00600 (the) -243.01100 (ne) 15.01830 (w) -243.00500 (pr) 44.98390 (oblem) -243.00200 (for) -244.02100 (both) -242.99600 (calibr) 15.00480 (ated) -243.00600 (and) ] TJ 11.95510 TL T* [ (partially) -398.98600 (calibr) 15.00360 (ated) -400 (\050unknown) -399 (focal) -399.99200 (length\051) -399.00900 (pinhole) -399.98200 (cam\055) ] TJ T* [ (er) 15.01890 (as\056) -298.99500 (By) -214.98400 (inte) 40.00860 (gr) 14.98890 (ating) -216.01300 (these) -215.99300 (ne) 15.01830 (w) -215.99000 (algori) 1.01576 (thms) -215.98100 (in) -215.99100 (an) -215.99300 (incr) 36.98890 (emental) ] TJ T* [ (SfM) -245.98400 (system\054) -247.00200 (we) -247.00900 (go) -245.98800 (be) 29.99620 (yond) -245.98700 (the) -247.01000 (state\055of\055art) -245.99300 (methods) -246.01000 (with) -246.98600 (the) ] TJ T* [ (capability) -253.99600 (of) -255.00400 (r) 37.01960 (econstructing) -253.99100 (camer) 14.98280 (as) -255.00500 (without) -253.98700 (2D\0553D) -255.00400 (corr) 36.98650 (e\055) ] TJ T* [ (spondences\056) -363.01000 (Lar) 37 (g) 10.00320 (e\055scale) -267.99200 (r) 37.01960 (eal) -267.98700 (ima) 10.01300 (g) 10.00320 (e) -267.01900 (e) 19.99180 (xperiments) -268.00700 (show) -268.00400 (that) ] TJ 11.95590 TL T* [ (our) -199.99000 (ne) 15.01770 (w) -199.01200 (SfM) -199.99200 (system) -199.99200 <7369676e690263616e746c79> -199.01300 (impr) 44.99370 (o) 10.00320 (ves) -200.00800 (the) -199.99800 (completeness) ] TJ 11.95510 TL T* [ (of) -249.98500 (3D) -249.99000 (r) 37.01960 (econstruction) -249.99100 (o) 10.00320 (ver) -250 (the) -249.99000 (standar) 37.01340 (d) -249.99300 (appr) 44.99490 (oac) 14.98280 (h\056) ] TJ /R23 11.95520 Tf 37.11800 TL T* [ (1\056) -249.99000 (Intr) 18.01460 (oduction) ] TJ /R25 9.96260 Tf 11.95470 -19.34610 Td [ (The) -354.99500 (standard) -354.98400 (incremental) -353.99600 (structure) -354.98500 (from) -354.99000 (motion) -354.99700 (\050SfM\051) ] TJ -11.95470 -11.95510 Td [ (is) -447.99000 (a) -448.00800 (widely) -449 (used) -447.99100 (technique) -447.98300 (\13316\054) -447.99400 (18\054) -449.01100 (15\054) -447.99100 (5\135\056) -904.00100 (During) -449.00100 (the) ] TJ 11.95470 TL T* [ (incremental) -375.99200 (reconstruction\054) -408.01400 (cameras) -376.01800 (with) -375.99400 (estimated) -377.00300 (poses) ] TJ 11.95630 TL T* [ (are) -345.01300 (added) -346.01500 (to) -344.98900 (the) -346.01300 (3D) -344.99400 (model) -345.99600 (repeatedly) 65.01860 (\054) -368.99500 (which) -346.00600 (is) -344.98900 (a) -345.98600 (process) ] TJ 11.95470 TL T* [ (called) -301.00200 (camera) -301.99700 (resection\056) -463.98400 (T) 35.01740 (raditionally) 65.01370 (\054) -315.00400 (the) -301.00100 (pose) -302.01600 (estimation) ] TJ T* [ (step) -358.00500 (uses) -358.00600 (PnP) -357.00400 (algorithms\054) -384.98400 (le) 25.01790 (v) 14.98280 (eraging) -358.00900 (the) -358.01100 (correspondences) ] TJ T* [ (between) -328.01700 (the) -328.01600 (3D) -326.99700 (points) -327.98800 (and) -328.01800 (2D) -328.01600 (features) -327.98700 (\1339\054) -327 (20\054) -328.01100 (19\135\056) -544.01700 (Ho) 24.98360 (w\055) ] TJ T* [ (e) 25.01110 (v) 14.98280 (er) 39.98600 (\054) -343 (such) -324.01300 (structure\055based) -324.00500 (resection) -324.01000 (method) -325.01400 (requires) -324.01700 (suf) 24.98360 <022d> ] TJ T* [ (cient) -215.99300 (3D) -215.99500 (points) -216.00700 (to) -215.99100 (be) -214.98300 (visible) -216.00900 (in) -215.99100 (the) -215.99600 (ne) 25.01670 (w) -216 (cameras\054) -222.98200 (which) -215.98800 (can\055) ] TJ 11.95590 TL T* [ (not) -278.01500 (be) -277.99200 (al) 10.00140 (w) 10.00140 (ays) -277.98500 <7361746973026564> -277.99500 (e) 25.01050 (v) 14.98280 (en) -277.99200 (when) -277.98400 (there) -279.01200 (are) -278.00500 (enough) -278.01200 (feature) ] TJ 11.95510 TL T* [ (matches\056) -290.99000 (Figure) -193.98200 (1) -194.00200 (sho) 24.99220 (ws) -193.99800 (an) -194.00600 (e) 15.01220 (xtreme) -193.99500 (case) -194.01400 (of) -194.00400 (such) -193.99500 (a) -194.01200 (problem\056) ] TJ T* [ (Each) -305.98800 (of) -307.00600 (the) -306.01900 (three) -305.98800 (images) -306.00500 (captures) -307 (tw) 10.00810 (o) -305.98300 (out) -306.01000 (of) -305.98600 (three) -307.00800 (objects) ] TJ T* [ (in) -350.00800 (the) -348.99300 (scene\054) -374.01500 (and) -350.01400 (no) -350.01000 (tw) 10.00810 (o\055vie) 24.98600 (w) -348.99800 (reconstruction) -349.98600 (can) -349.00300 (be) -350.02000 (used) ] TJ T* [ (to) -384.98200 (resect) -384.99800 (a) -384.99900 (third) -385.01300 (camera\054) -418.01500 (because) -384.99600 (there) -384.99500 (are) -385.00700 (no) -384.98500 (three\055vie) 24.98110 (w) ] TJ T* [ (o) 14.98280 (v) 14.98280 (erlaps\056) -437.01700 (In) -291.98900 (general\054) -303.00500 (feature) -291.99800 (tracks) -293.00400 (are) -292.00300 (not) -292.01300 (al) 10 (w) 10 (ays) -293.00300 (triangu\055) ] TJ 11.95590 TL T* [ (lated) -372.00600 (to) -372.98400 (3D) -372.00800 (points) -371.98100 (due) -372.99000 (to) -372.00400 (pose) -372.00400 (inaccurac) 15.00980 (y) 65.01370 (\054) -402.98900 (outlier) -373.01100 (feature) ] TJ 11.95510 TL T* [ (matches\054) -288.99000 (and) -281.00600 (threshold) -281.01800 (settings\056) -404.00900 (This) -280.99000 (can) -281.01400 (easily) -280.99500 (lead) -281.99000 (to) -281 (in\055) ] TJ T* [ (complete) -308.98400 (reconstructions) -309.98700 (with) -308.98500 (the) -310.01900 (standard) -308.99000 (SfM) -310.00500 (approach\054) ] TJ T* [ (e) 25.01110 (v) 14.98280 (en) -249.99700 (when) -249.98900 (there) -249.99700 (are) -250.01000 (suf) 24.98360 <026369656e74> -250.01200 (feature) -250.00500 (matches\056) ] TJ ET Q q 3111.62000 4051.64000 1275.70000 1690.18000 re W n /R40 Do Q q 1015.84000 0 0 1730.69000 4412.26000 4051.64000 cm /R41 Do Q q 10 0 0 10 0 0 cm BT /R25 8.96640 Tf 1 0 0 1 308.86200 384.24200 Tm [ (Figure) -251.98800 (1\056) -252.00400 (There) -252.99800 (are) -251.99100 (3) -251.98200 (objects) -251.99900 (in) -253.01700 (the) -251.99300 (scene\072) -314.02000 (sug) 5.01547 (ar) -253.01700 (\050) ] TJ /R42 8.96640 Tf 177.75500 0 Td [ (O) -0.09802 ] TJ /R44 5.97760 Tf 7.01289 -0.99609 Td [ (1) -0.10619 ] TJ /R25 8.96640 Tf 4.15078 0.99609 Td [ (\051\054) -253.02300 (blueberries) ] TJ -188.91900 -10.95900 Td (\050) Tj /R42 8.96640 Tf 2.98594 0 Td [ (O) -0.10075 ] TJ /R44 5.97760 Tf 7.01211 -0.99609 Td [ (2) -0.09802 ] TJ /R25 8.96640 Tf 4.15078 0.99609 Td [ (\051) -312.98800 (and) -313.99500 (vitamin) -313.00100 (\050) ] TJ /R42 8.96640 Tf 54.75000 0 Td [ (O) -0.10075 ] TJ /R44 5.97760 Tf 7.01211 -0.99609 Td [ (3) -0.09802 ] TJ /R25 8.96640 Tf 4.15078 0.99609 Td [ (\051\056) -499.99200 (Each) -314.02000 (of) -312.99000 (the) -312.98500 (three) -314.02000 (images) -312.99000 (on) -314.02000 (the) -312.98500 (left) -312.99000 (can) ] TJ -80.06170 -10.95900 Td [ (see) -248.00700 (only) -248.01000 (t) 1.01017 (w) 10.00920 (o) -248.01800 (out) -248.01000 (of) -247.98800 (the) -247.98500 (three) -247.01600 (objects\054) -248.01200 (where) -247.99100 (the) -247.98500 (lack) -248.00200 (of) -246.98900 (three\055vie) 24.98480 (w) ] TJ 10.95900 TL T* [ (o) 14.98650 (v) 14.98650 (erlap) -357.01900 (prohibits) -358.00400 (standard) -357.01300 (resection\056) -632.98900 (Note) -356.99700 (there) -358.02100 (are) -356.98000 (not) -357.00800 (reliable) ] TJ T* [ (feature) -368.98800 (matches) -369.99300 (on) -369 (the) -370.01200 (table) -369.02100 (due) -370.02300 (to) -368.98800 (the) -370.01200 (repeating) -369.01000 (patterns\056) -668 (The) ] TJ 10.95820 TL T* [ (right) -368.99600 (image) -370.02000 (sho) 25.00930 (ws) -369.00500 (the) -369.01000 (dense) -368.98800 (reconstruction) -370.01200 (\1333\135) -368.98300 (from) -369.02100 (our) -369.01500 (recon\055) ] TJ 10.95900 TL T* [ (structed) -250.00800 (cameras) -250.01100 (using) -250.00800 (structure\055less) -249.99500 (resection\056) ] TJ /R25 9.96260 Tf 11.95470 -33.44410 Td [ (In) -311.00400 (this) -312.00200 (paper) 39.99090 (\054) -327.00200 (we) -311.00900 (introduce) -310.98200 (a) -311.99200 (no) 14.98770 (v) 14.98280 (el) -311.00200 (structure\055less) -311.99700 (resec\055) ] TJ -11.95470 -11.95470 Td [ (tion) -433.98200 (technique) -433.00400 (that) -433.99100 (e) 15.01220 (xploits) -432.98200 (solely) -434.02100 (2D) -433.01600 (matches) -433.98600 (for) -434.00600 (e) 15.01220 (xact) ] TJ 11.95510 TL T* [ (camera) -319.01300 (pose) -318.99300 (estimation) -318.01600 (that) -318.99100 (maximizes) -319.00600 (the) -318.99600 (number) -318.98600 (of) -319.00600 (po\055) ] TJ T* [ (tential) -228.99600 (3D) -229.01300 (points\056) -303.01100 (By) -227.98400 (taking) -228.99600 (the) -229.01100 (set) -229.01100 (of) -229.02100 (already) -228.98100 (reconstructed) ] TJ 11.95590 TL T* [ (pinhole) -395.00300 (cameras) -394.01500 (as) -394.99000 (a) -394.99800 (single) -393.98800 (generalized) -394.98800 (camera) -395.00300 (\13314\135\054) -430.98200 (we) ] TJ 11.95510 TL T* [ (re) 15.00980 (gister) -407.99300 (a) -406.99600 (ne) 25.01540 (w) -408.00800 (pinhole) -408.02000 (camera) -408.02000 (to) -407.02000 (the) -408 (generalized) -408.00500 (camera) ] TJ T* [ (using) -401.98200 (the) -402.98400 (2D) -402.00400 (image) -403.01600 (correspondences) -401.99700 (\050see) -402.99600 (Figure) -401.98700 (2a\051) -402.99600 (be\055) ] TJ T* [ (tween) -330.01600 (the) -328.99700 (multiple) -330.01600 (cameras\056) -547.98700 (Gi) 24.98600 (v) 14.98280 (en) -329.98400 (the) -330.01400 (e) 15.01220 (xample) -328.98400 (in) -330.01400 (Figure) ] TJ T* [ (1\054) -261.98800 (we) -259.01800 (may) -259.00300 <02727374> -258.99100 (compute) -260.01100 (the) -259.00600 (tw) 10.00810 (o\055vie) 24.98600 (w) -259.01100 (reconstruction) -258.98100 (of) -259.99600 (the) ] TJ T* [ <02727374> -298.00400 (tw) 10.00810 (o) -299.00400 (images) -298.00700 (\050which) -298.99700 (reconstructs) -298.00900 (O) ] TJ /R25 6.97380 Tf 156.43200 -1.49492 Td (2) Tj /R25 9.96260 Tf 6.95781 1.49492 Td [ (only\051\054) -310.98700 (use) -297.98500 (the) -297.98000 (tw) 10.00810 (o) ] TJ -163.39000 -11.95630 Td [ (cameras) -240.98200 (together) -239.98200 (as) -241.01600 (a) -240.98400 (generalized) -241.01400 (camera) -240.00900 (to) -241.00900 (resect) -240.98400 (the) -241.00900 (third) ] TJ T* [ (camera) -236.98700 (from) -237.99000 (the) -237.01200 (2D) -237.01200 (matches) -237.98000 (on) -237.00900 (object) -237.98500 (O) ] TJ /R25 6.97380 Tf 163.18300 -1.49414 Td (1) Tj /R25 9.96260 Tf 6.35117 1.49414 Td [ (and) -237.01400 (O) ] TJ /R25 6.97380 Tf 23.94380 -1.49414 Td (3) Tj /R25 9.96260 Tf 3.98516 1.49414 Td [ (\054) -239.99400 (and) -237.01400 (then) ] TJ -197.46300 -11.95510 Td [ (reconstruct) -249.98000 (O) ] TJ /R25 6.97380 Tf 53.94690 -1.49414 Td (1) Tj /R25 9.96260 Tf 6.47617 1.49414 Td [ (and) -249.99300 (O) ] TJ /R25 6.97380 Tf 24.06880 -1.49414 Td (3) Tj /R25 9.96260 Tf 3.98516 1.49414 Td (\056) Tj -76.52230 -12.76210 Td [ (W) 79.98660 (e) -484.00300 (name) -483.99000 (this) -482.99300 (ne) 25.01540 (w) -483.99500 (problem) -484.01200 (semi\055generalized) -484.01200 (camera) ] TJ -11.95470 -11.95590 Td [ (pose) -407.01800 (estimation) -406.98100 (since) -406.98100 (it) -407.01500 (in) 40.00310 (v) 20.00160 (olv) 14.99750 (es) -406.99100 (one) -406.98600 (generalized) -406.98600 (camera) ] TJ T* [ (and) -446 (one) -447.01900 (pinhole) -446.01400 (camera\056) -898.99200 (This) -446.99900 (paper) -446.00400 (presents) -445.98400 (the) -447.01400 (mini\055) ] TJ T* [ (mal) -358.98400 (solv) 15 (ers) -359.00100 (for) -359.00100 (the) -358.99200 (semi\055generalized) -359.01400 (camera) -359.00900 (pose) -358.98900 (estima\055) ] TJ T* [ (tion) -327.01900 (problem\054) -345.99100 (with) -326.98200 (the) -326.99700 (pinhole) -327.01400 (camera) -327.01400 (either) -326.99400 (calibrated) -326.99400 (or) ] TJ -13.74100 -29.88790 Td (1) Tj ET Q Q Q q q 1 1 1 rg /a0 gs 48.40600 786.42200 515.18800 -52.69900 re f q /s5 gs /x6 Do Q q /s7 gs /x8 Do Q q /s9 gs /x10 Do Q q /s11 gs /x12 Do Q Q Q Q q 1 0 0 1 0 0 cm BT /F1 12 Tf 14.40000 TL ET 1 1 1 rg n 270 47 72 14 re f* 0.50000 0.50000 0.50000 rg BT /F2 9 Tf 10.80000 TL ET BT 1 0 0 1 297 50 Tm (2075) Tj T* ET Q endstream endobj 14 0 obj << /Filter /FlateDecode /Resources << /ExtGState << /a0 << /CA 1 /ca 1 >> >> /XObject << /x18 15 0 R >> >> /Length 28 /Group << /Type /Group /S /Transparency /CS /DeviceRGB /I true >> /BBox [ 78 746 96 765 ] /Type /XObject /Subtype /Form >> stream x+O4PH/VЯ0Pp 0 endstream endobj 15 0 obj << /Filter /FlateDecode /Resources 16 0 R /Length 107 /Type /XObject /BBox [ 78 746 96 765 ] /Subtype /Form >> stream xe AC̬wʠ =p,?]%+H-
Jc "82w8VSnGW;"
endstream
endobj
16 0 obj
<<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
>>
endobj
17 0 obj
<<
/Filter /DCTDecode
/BitsPerComponent 8
/Height 2304
/Length 423901
/ColorSpace /DeviceRGB
/Width 3072
/Subtype /Image
>>
stream
Adobe d C
$, !$4.763.22:ASF:=N>22HbINVX]^]8EfmeZlS[]Y C**Y;2;YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY "
} !1AQa"q2#BR$3br
%&'()*456789:CDEFGHIJSTUVWXYZcdefghijstuvwxyz
w !1AQaq"2B #3Rbr
$4%&'()*56789:CDEFGHIJSTUVWXYZcdefghijstuvwxyz ? X8jHZ3)P
BiH4Qڊ`@Z\R})iPh )h(