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Monocular Structure from Motion Based on Angular BA

This paper presents a technique for monocular Structure from Motion (SFM) that reconstructs 3D world shape. The technique proposed uses optical flow for 2D pixel pair matching and Angular Bundle Ajustment (ABA) for 3D structure refinement. The proposed strategy has two main advantages. Firstly, optical flow fields provide sufficient dense correspondence of image point pairs and secondly, ABA outperforms classic BA variants, especially for the points relatively far from camera. The reconstruction results obtained in realistic scenario demonstrate the effectiveness and accuracy of the proposed algorithm.