It takes a while for the lighting to 'switch on' - was the model fully loaded? Lots of pink specularity...?
Funny you should say that about high-res... our first model used the full res of the image, and we got a very dense point cloud but with a lot of noise and holes. Running the same images but downsampled 2x, we got a sparser point cloud but cleaner data and fewer holes - probably because the feature detection worked better on lo-res images rather than high-res with everything 'smeared out' over more pixels.
And not sure what you mean by 'robot' rig - we just used a tripod and shifted the camera round! We did use a kinect to make a very rough 3d model first, and then used an algorithm in development here to predict the best camera positions for the object (though I doubt it would matter much with a fairly 2d symmetrical object like this). A couple of colleagues are actually building a robot rig which would take pics from all the best spots...
As for papers, I try not to get involved in the maths/technical side, but google scholar should throw up a load - try searching for just photogrammetry or 'structure from motion'. I get the gist of most of them, but they tend to lose me as soon as they start with the maths...
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FridgeBadger, Tue 12 Feb 2013, 13:28,
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