Automatic Dense Reconstruction from Uncalibrated Video Sequences. Front Cover. David Nistér. KTH, – pages. Automatic Dense Reconstruction from Uncalibrated Video Sequences by David Nister; 1 edition; First published in aimed at completely automatic Euclidean reconstruction from uncalibrated handheld amateur video system on a number of sequences grabbed directly from a low-end video camera The views are now calibrated and a dense graphical.

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The flight distance is around m. Our method divides a large number of images into small groups of images in yncalibrated form of an image queue. Furthermore, as the number of images increases, the improvement in the calculation speed will become more noticeable. Researchers have proposed improved algorithms for different situations based uncalibratdd early SfM algorithms [ 456 ].

Automatic homographic registration of a pair of images, with a contrario elimination of outliers. Jianyu Huang wrote the paper and Yufu Qu made the modification.

The number of control points is k. After remapping the pixels onto new locations on the image based on distortion model, the image distortion caused by lens could be eliminated. There must be at least four feature points, and the centroid of these feature points can then be calculated as follows:. Next, we update the image queue by deleting some of the old images and inserting some new images into the queue, and a structural calculation of all the images can be performed by repeating the previous steps.


The first step involves recovering the 3D structure of the scene and the camera motion from the images. Finally, all of the parameters from the structure calculation are optimized by bundle adjustment.

As is shown in Figure 18 c, the 3D point cloud is generated by depth—map fusion. The experiments demonstrate that when the texture of the images is complex and the number of images exceedsthe proposed method can improve the calculation speed by more than a factor of four with almost no loss of calculation accuracy.

Two important steps in incremental SfM are the feature point matching between images, and bundle adjustment. The following matrix is formed by the image coordinates of the feature points:. Xuan Zhang collected the experimental image data and helped yncalibrated the performance of the autoatic and analyzed the result.

The UAV flight over the top of the buildings. This thesis describes a system that completely automaticallybuilds a three-dimensional model of a scene given a sequence ofimages of the scene. The running times of the algorithm are recorded in Table 2and the precision is 1 s.

First, a principal component analysis method of the feature points is used to select the uncalibrayed images suitable for 3D reconstruction, which ensures that the algorithm improves the calculation speed with almost no loss of accuracy.

As the number of images and their resolution increase, the computational times of the algorithms will increase significantly, limiting them in some high-speed reconstruction applications. Bundle adjustment itself is a nonlinear least-squares problem that optimizes eeconstruction camera and structural parameters; the calculation time will increase because of the increase in the number of parameters.


The problem addressed in this step is generally referred to as the SfM problem.

The new image must meet the following two conditions. In order to test the accuracy of the uncalibratec point cloud data obtained by the algorithm proposed in this study, we compared the point cloud generated by our algorithm PC with the standard point cloud PC STL which is captured by structured light scans The RMS error of all ground truth poses is within 0.

Automatic Dense Reconstruction from Uncalibrated Video Sequences | Open Library

After that, by calculating the positional relationship of uncalibratd corresponding PCPs between two consecutive images, we can estimate the overlap area between images. In the Figure 18 b four most representative views of SfM, calculation results are selected to present the process of image queue SfM. We propose the use of the incremental SfM algorithm.

When the scene is too long, such as the flight distance is more than m.

Rapid 3D Reconstruction for Image Sequence Acquired from UAV Camera

Reconstruction result of a garden. Accurate, dense, and robust multiview stereopsis.

Equation 9 is the reprojection error formula of the weighted bundle adjustment. Reconstruction result of buildings. MVS For the dense reconstruction of the object, considering the characteristics of the problem addressed in this study, we use the method based on depth-map fusion to obtain the dense point cloud.