Method and System for Recovery of 3D Scene Structure and Camera Motion From a Video Sequence
First Claim
1. A method of recovering a 3D scene structure from a plurality of image frames obtained from imaging means, the method comprising the steps ofextracting a first set of 2D features from a first image frame,extracting a second set of 2D features from a second image frame,matching the second set with the first set, such that at least one pair of matched 2D features refers to a same 3D point in a 3D scene,generating a 3D ray by back-projection from each 2D feature, andsubjecting the generated 3D rays to an anchor-based minimization process, for determining camera motion parameters and 3D scene points coordinates, thereby recovering a structure of said 3D scene.
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Abstract
An improved method and a system are disclosed for recovering a three-dimensional (3D) scene structure from a plurality of two-dimensional (2D) image frames obtained from imaging means. Sets of 2D features are extracted from the image frames, and sets corresponding to successive image frames are matched, such that at least one pair of matched 2D features refers to a same 3D point in a 3D scene captured in 2D in the image frames. A 3D ray is generated by back-projection from each 2D feature, and the generated 3D rays are subjected to an anchor-based minimization process, for determining camera motion parameters and 3D scene points coordinates, thereby recovering a structure of the 3D scene.
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Citations
17 Claims
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1. A method of recovering a 3D scene structure from a plurality of image frames obtained from imaging means, the method comprising the steps of
extracting a first set of 2D features from a first image frame, extracting a second set of 2D features from a second image frame, matching the second set with the first set, such that at least one pair of matched 2D features refers to a same 3D point in a 3D scene, generating a 3D ray by back-projection from each 2D feature, and subjecting the generated 3D rays to an anchor-based minimization process, for determining camera motion parameters and 3D scene points coordinates, thereby recovering a structure of said 3D scene.
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7. A system for recovering a 3D scene structure from a plurality of image frames obtained from imaging means, said system comprising
the imaging means and data processing means interfaced with the imaging means, and configured to extract a set of 2D features from each image frame, match each set with a set extracted from the previous image frame, such that at least one pair of matched 2D features refers to a same 3D point in a 3D scene, generate a 3D ray by back-projection from each 2D feature, and subject the generated 3D rays to an anchor-based minimization process, for determining camera motion parameters and 3D scene points coordinates, thereby recovering a structure of said 3D scene.
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12. A set of instructions recorded on a data carrying medium which, when processed by a data processing terminal connected to imaging means and obtaining image frames therefrom, configures the terminal to perform the steps of
extracting a first set of 2D features from a first image frame, extracting a second set of 2D features from a second image frame, matching the second set with the first set, such that at least one pair of matched 2D features refers to a same 3D point in a 3D scene, generating a 3D ray by back-projection from each 2D feature, and subjecting the generated 3D rays to an anchor-based minimization process, for determining camera motion parameters and 3D scene points coordinates, thereby recovering a structure of said 3D scene.
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17-19. -19. (canceled)
Specification