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FastMap: Revisiting Dense and Scalable Structure from Motion "FASTMAP, a redesigned SfM framework, achieves fast, high-accuracy dense structure from motion. On large scenes with thousands of images, FASTMAP is up to one to two orders of magnitude faster than GLOMAP and COLMAP. ... Importantly, FASTMAP achieves efficiency improvements while...

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MrNeRF

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Colmap 4.0 was very recently released, so it inspired me to do some work to better understand it and its new capabilities with Rerun. I want to really understand how Colmap, and in particular, pycolmap, works outside of just calling it via the CLI. So my goal is to use the low-level pycolmap API to log every part of the pipeline. The explicit goal is to have an alternative to the SQLite database that I can utilize. Instead of SQLite, I want to try logging everything directly to rerun and use RRD. This means I can have deep inspectability and still save the features/matches/2D view geometry, but be able to view it directly in rerun. I think this is one of the superpowers that rerun provides; data and visualizations are deeply integrated. As I'm often working with sequential data (videos), I'm going to specifically focus on four things: 1. Monocular Video Simple: Calls high-level APIs such as pycolmap.extract_features, pycolmap.match_sequential, pycolmap.incremental_mapping. These are basically identical to the CLI options and provide a good baseline. 2. Monocular Video Streamed: Take the above high-level APIs and break them down to their iterator version, logging each component in a streamed manner. This way, I can stream the intermediate features to rerun while the extraction/matching/mapping is happening. 3. Rig with unknown calibration: <- WHAT THE VIDEO SHOWS This is probably the most interesting version and the first one I've been working on. It allows one to set a rig between known sensors, such as in VR/AR devices, leading to much better reconstructions with multiple cameras. This is the case where we don't know the calibration a priori, so we have to run a reconstruction twice: once as a normal Colmap reconstruction with no rig constraints, use this to generate the constraints, and then do it again with the newly found rig. 4. Rig with known calibration: This is the RoboCap example, where we have a pre-calibrated set of sensors, so we don't need to run the two reconstructions and also gain better matching between cameras, both spatially and temporally. Again, this leads to a much better reconstruction! Along with all this, GLOMAP has become a first-class global mapper, making it super easy to use directly within pycolmap! I'm excited to do more with this and compare it to things like pycuvslam, vipe, and other alternatives.

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On The Road With Al & Ivy Blog entry for June 3, 2016: First book trailer for the On The Road With Al & Ivy novel "On The Road With Al & Ivy—Book 1: Becoming A Face" will be released in about two weeks. As I said earlier, I was working on this book and "The Quitturz," and this one was the first to be completed. I decided a while back to do this as a novel for various reasons, mainly because it's complicated to write a book based on real life with actual people. Anyone who's read this blog for years knows that this novella, which runs about 45,000 words, will be based on my experiences. The novel format allows me to include a lot of material based on other people's observations and comments, which will make the novel more richly detailed. The format allows me to fictionalize people so that every character resembles no one in real life. The main reason is to protect sources and to take advantage of fiction's flexibility, which allows me to use my imagination. I think that with any work based on real-life experiences, it's essential to be fair to the characters. One of the things I specifically avoided was not to create one-dimensional saints and sinners, so to speak, so that every character can be seen as a human being with both virtues and flaws. Doing this as a fictional trilogy also allows me to draw on my interest in past literature and do this as a work. I didn't want to do a documentary-style book. Plenty of those are already available for this book's subject matter. The title refers to a phrase that will be occasionally used in the book. It doesn't have one particular meaning. It starts off meaning one thing, but as the story progresses, you'll find that it's a much more complex concept. Another aspect is the story's structure. The original drafts were in the first person, but I found that once I shifted to a novel format, I could weave a more complex tapestry that included other first-person accounts and third-person narratives. I admit that my writing will probably get mixed reviews, as some readers will always criticize that kind of structure, but after 8 years and a lot of thought, it's simply the best way to present the story. There will be more blog entries about the book in the coming two weeks and afterwards. - Al Handa #kindleunlimited #booktwitter #homeless #unhoused #booktwitter #siliconvalley #shitzu #books #Blogs

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