Automatic 3d modelling of architecture

This paper describes a system which automatically derives 3D models of ar-chitectural scenes from multiple images. This system differs from previous structure from motion algorithms in that it explicitly makes use of strong ge-ometric constraints such as perpendicularity and verticality which are likely to be found in architecture. Structure is compactly represented as a piece-wise planar model which is initialised automatically by segmenting a feature-based reconstruction. An efficient technique for evaluation of model likeli-hood is also presented, which allows a rapid search through a large number of 3D models.