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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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Automatic Dense Reconstruction from Uncalibrated Video Sequences

In addition, the algorithm must repeat the patch expansion and point cloud filtering several times, resulting in a significant increase in the calculation time. Received Nov 23; Accepted Jan These methods can improve the speed of the structure calculation without loss of accuracy. Feom implementation of this method can be found in the open-source software openMVS [ 16 ]. Positions and orientations of cameras together with object feature points are derived in the order of camera movement.

The structure of the reconstruction will be distorted due to accumulated errors. Figure 4 illustrates the process of the algorithm. With the help of feature point matching, bundle adjustment, and other technologies, Snavely completed the 3D reconstruction of objects by using images of famous landmarks and cities.

In this paper, a fully automatic approach to key frames extraction without initial pose information is proposed. The image queue SfM includes two steps. Equation 9 is the reprojection error formula of the weighted bundle adjustment. Finally, a dense 3D point cloud can be obtained using the depth—map fusion method.

After the above steps, the structural calculation of all of the images in C q can be performed. The principal component points PCPs are obtained frok these vectors Equations 3 and 4. Without priors, MAP estimation reduces to maximum-likelihood estimation. The SfM algorithm is used to obtain the structure of the 3D scene and the camera motion from the images of stationary objects. Because of the rapid development of the unmanned aerial vehicle UAV industry in recent years, civil UAVs have been used in agriculture, energy, environment, public safety, infrastructure, and other fields.

Finally, the structure of all of the images can be calculated by repeating the following two procedures alternately: Considering the accuracy and speed of the algorithm, the SfM approach used in this study uses an incremental SfM algorithm sequfnces 7 ]. In order to test the accuracy of the 3D 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.


After that, a dense point data cloud and mesh data cloud can be obtained. An open source software named Cloud Compare [ 32 ] is used for the test.

Rapid 3D Reconstruction for Image Sequence Acquired from UAV Camera

Figure 6 a—e present some of the outdoor images different resolution images taken with the same automqtic taken from a camera carried by the DJI Phantom 4 Pro UAV camera hardware: Speed Evaluation In order to test the speed of the proposed algorithm, we compared the time consumed by our method with those consumed by openMVG and MicMac. Three principal component points PCPs can be generated from PCA, each reflecting the distribution of the feature qutomatic in different images.

MicMac is a free open-source photogrammetric suite that can be used reconsrtuction a variety of 3D reconstruction scenarios. The final results accurately reproduce the appearance of the scenes. The first step of our method involves building a fixed-length image queue, selecting the key images from the video image sequence, and inserting them into the image queue until full. This problem is solved in global SfM [ 7 ] by using loop closure constraint.

Urban 3D Modelling from Video

And the number of points in the point cloud is 3, Published online Jan The positions and orientations of the images are calculated, and the 3D coordinates of the feature points are estimated using weighted bundle adjustment. The flight height is seqkences 80 m and is kept unchanged.

The study of the methods in which 3D structures are generated by 2D images is an important branch of computer vision. When we use bundle adjustment to optimize the parameters, we must keep the control points unchanged or with as little change as possible.


Precision Evaluation In order to test the accuracy of the 3D 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. The distance point cloud is obtained after the distance calculation of each point and marked with different color.

These algorithms can obtain reconstruction results with an even higher density and accuracy.

Maxime Lhuillier’s home page

Without the use of ground control points, the result of our method lost the accurate scale of the model. Eventually, we will complete the structural calculation of all images by repeating the structural computation and queue update. This method can easily and rapidly obtain a dense point cloud. Conflicts of Interest The authors declare no conflict of interest. The distance point clouds are shown in Figure 8 a—c.

Xuan Zhang collected the experimental image data and helped improving the performance of the algorithm and analyzed the result. Scene reconstruction and visualization from community photo collections. There must be at least four feature points, and the centroid of these feature points can then be calculated as follows: When calculating the structure by the queue, uncallbrated of the bundle adjustment causes the parameters to reach the subregion optimum rather than the global optimum.

Sequecnes, the mesh is used as an outline of the object, which is projected onto the plane of the images to obtain the estimated depth maps. The second involves updating the images in the image queue. Please review our privacy policy. The result shows that our algorithm can be used in reconstruction uncalibdated normal digital camera images as long as the images are taken continuously.

SLAM mainly consists in the simultaneous estimation of the localization of the robot and the map of the environment.