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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. 1
Dick et al. (2000) studied this question.