Robust reconstruction of 3D points from images

• Autor(es): Rodrigues, Rui ; Fernandes, António Ramires
• Data: 2004
• Identificador Persistente: http://hdl.handle.net/1822/18623
• Origem: RepositóriUM - Universidade do Minho
• Assunto(s): 3d reconstruction; Computer graphics
• Tipo de Documento: Artigo
• Idioma: Inglês

Descrição

This paper presents a robust approach for 3D point recon- struction based on a set of images taken from a static scene with known, but not necessarily exact or regular, camera parameters. The points to be reconstructed are chosen from the contours of images, and a world-based formulationof the reconstruction problem and associated epipolar geom- etry is used. The result is a powerful mean of transpar- ently integrating contributions from multiple images, and increased robustness to situations such as occlusions or ap- parent contours. Two steps for adding robustness are pro- posed:cross-checking, which validates a reconstructed point taken from an image by projecting it on a special subset of the remaining images; andmerging, which fuses pairs of re- constructed points that are close in 3D space and that were initially chosen from different images. Results obtained with a synthetic scene (for ground truth comparison and error assessment), and two real scenes show the improved robustness achieved with the steps proposed.