MASfM

Marker Assisted Structure from Motion (SfM) for marker-based pose estimation systems

Demo Video

Dependencies

• OpenCV
  Version 2.4.x is recommended.
• Ceres Solver
  Precompiled VS2010 x86 static version is available here

Build

Use CMake to generate VS project files. Compiled and tested under Windows 7/10 with VS2010.

Detailed build instructions TBD.

Reference

1. Feng, C., Kamat, V. R., & Menassa, C. C. (2016). Marker-Assisted Structure from Motion for 3D Environment Modeling and Object Pose Estimation. Construction Research Congress, 2604-2613.

2. Feng, C., Xiao, Y., Willette, A., McGee, W., and Kamat, V. R. (2015). Vision guided autonomous robotic assembly and as-built scanning on unstructured construction sites. Automation in Construction, 59, 128-138.

3. Feng, C., and Kamat, V. R. (2013). Plane Registration Leveraged by Global Constraints for Context‐Aware AEC Applications. Computer‐Aided Civil and Infrastructure Engineering, 28(5), 325-343.