Method for 3D modelling based on structure from motion processing of sparse 2D images
First Claim
1. A method based on Structure from Motion for processing a plurality of sparse images of an object acquired by one or more acquisition devices to generate a sparse 3D points cloud and of a plurality of internal and external parameters of the acquisition devices obtained by processing the images, comprising the following steps:
- (a) collecting the images;
(b) extracting keypoints from each image and generating a descriptor for each keypoint;
(c) organizing the images in a proximity graph;
(d) pairwise image matching and generating keypoints connecting tracks according to maximum proximity between the keypoints;
(e) performing an autocalibration between image clusters to extract the internal and external parameters of the acquisition devices, wherein a plurality of calibration groups is defined, each calibration group containing a plurality of image clusters, and wherein a clustering algorithm is used to iteratively merge the clusters in a model expressed in a common local reference system, the clustering being carried out starting from clusters belonging to a same calibration group; and
(f) performing a Euclidean reconstruction of the object in form of the sparse 3D point cloud based on the parameters extracted at the preceding step.
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Abstract
A method based on Structure from Motion for processing a plurality of sparse images acquired by one or more acquisition devices to generate a sparse 3D points cloud and of a plurality of internal and external parameters of the acquisition devices includes the steps of collecting the images; extracting keypoints therefrom and generating keypoint descriptors; organizing the images in a proximity graph; pairwise image matching and generating keypoints connecting tracks according maximum proximity between keypoints; performing an autocalibration between image clusters to extract internal and external parameters of the acquisition devices, wherein calibration groups are defined that contain a plurality of image clusters and wherein a clustering algorithm iteratively merges the clusters in a model expressed in a common local reference system starting from clusters belonging to the same calibration group; and performing a Euclidean reconstruction of the object as a sparse 3D point cloud based on the extracted parameters.
10 Citations
11 Claims
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1. A method based on Structure from Motion for processing a plurality of sparse images of an object acquired by one or more acquisition devices to generate a sparse 3D points cloud and of a plurality of internal and external parameters of the acquisition devices obtained by processing the images, comprising the following steps:
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(a) collecting the images; (b) extracting keypoints from each image and generating a descriptor for each keypoint; (c) organizing the images in a proximity graph; (d) pairwise image matching and generating keypoints connecting tracks according to maximum proximity between the keypoints; (e) performing an autocalibration between image clusters to extract the internal and external parameters of the acquisition devices, wherein a plurality of calibration groups is defined, each calibration group containing a plurality of image clusters, and wherein a clustering algorithm is used to iteratively merge the clusters in a model expressed in a common local reference system, the clustering being carried out starting from clusters belonging to a same calibration group; and (f) performing a Euclidean reconstruction of the object in form of the sparse 3D point cloud based on the parameters extracted at the preceding step. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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