# Semantic Validation in Structure from Motion

Source: [Semantic Validation in Structure from Motion](<https://www.sota2.com/research/paper/68fa6eef1e209131cea42ff4>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2025-10-28T13:56:58.255Z

Authors: Joseph Rowell

Published: 2023-04-05T12:58:59.000Z

## Abstract

The Structure from Motion (SfM) challenge in computer vision is the process of recovering the 3D structure of a scene from a series of projective measurements that are calculated from a collection of 2D images, taken from different perspectives. SfM consists of three main steps; feature detection and matching, camera motion estimation, and recovery of 3D structure from estimated intrinsic and extrinsic parameters and features.   A problem encountered in SfM is that scenes lacking texture or with repetitive features can cause erroneous feature matching between frames. Semantic segmentation offers a route to validate and correct SfM models by labelling pixels in the input images with the use of a deep convolutional neural network. The semantic and geometric properties associated with classes in the scene can be taken advantage of to apply prior constraints to each class of object. The SfM pipeline COLMAP and semantic segmentation pipeline DeepLab were used. This, along with planar reconstruction of the dense model, were used to determine erroneous points that may be occluded from the calculated camera position, given the semantic label, and thus prior constraint of the reconstructed plane. Herein, semantic segmentation is integrated into SfM to apply priors on the 3D point cloud, given the object detection in the 2D input images. Additionally, the semantic labels of matched keypoints are compared and inconsistent semantically labelled points discarded. Furthermore, semantic labels on input images are used for the removal of objects associated with motion in the output SfM models. The proposed approach is evaluated on a data-set of 1102 images of a repetitive architecture scene. This project offers a novel method for improved validation of 3D SfM models.

## Recorded benchmark results

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

## Original sources and implementation

[Original paper](<https://arxiv.org/abs/2304.02420>)

[PDF](<https://arxiv.org/pdf/2304.02420.pdf>)