Method for reconstructing a three-dimensional object from a closed-loop sequence of images taken by an uncalibrated camera
First Claim
1. A computerized method for performing a Euclidean reconstruction of an unknown three-dimensional (3-D) structure from a sequence of two-dimensional (2-D) images of the structure, the 3-D structure undergoing closed loop motion relative to the camera, the method comprising the steps of:
- generating a closed-loop sequence of 2-D images of the unknown 3-D structure with an uncalibrated camera;
forming at least one set of consecutive 2-D images in the closed-loop sequence;
selecting feature tracking points captured from the unknown 3-D structure in the at least one set of 2-D images and determining a progression of one or more feature tracking points in the images of the at least one set;
estimating the relative orientation between the unknown 3-D structure and the camera with the progression of the feature tracking points;
fixing a set of parameters while minimizing an objective function to extract a set of first structure and motion parameters of the unknown 3-D structure; and
varying the set of parameters while minimizing the objective function to extract a set of second structure and motion parameters of the unknown 3-D structure until the set of second structure and motion parameters are substantially identical to the set of first structure and motion parameters.
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Abstract
In a computerized method, the three-dimensional structure of an object is recovered from a closed-loop sequence of two-dimensional images taken by a camera undergoing some arbitrary motion. In one type of motion, the camera is held fixed, while the object completes a full 360° rotation about an arbitrary axis. Alternatively, the camera can make a complete rotation about the object. In the sequence of images, feature tracking points are selected using pair-wise image registration. Ellipses are fitted to the feature tracking points to estimate the tilt of the axis of rotation. A set of variables are set to fixed values while minimizing an image-based objective function to extract a set of first structure and motion parameters. Then the set of variables freed while minimizing of the objective function continues to extract a second set of structure and motion parameters that are substantially the same as the first set of structure and motion parameters.
20 Citations
16 Claims
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1. A computerized method for performing a Euclidean reconstruction of an unknown three-dimensional (3-D) structure from a sequence of two-dimensional (2-D) images of the structure, the 3-D structure undergoing closed loop motion relative to the camera, the method comprising the steps of:
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generating a closed-loop sequence of 2-D images of the unknown 3-D structure with an uncalibrated camera; forming at least one set of consecutive 2-D images in the closed-loop sequence; selecting feature tracking points captured from the unknown 3-D structure in the at least one set of 2-D images and determining a progression of one or more feature tracking points in the images of the at least one set; estimating the relative orientation between the unknown 3-D structure and the camera with the progression of the feature tracking points; fixing a set of parameters while minimizing an objective function to extract a set of first structure and motion parameters of the unknown 3-D structure; and varying the set of parameters while minimizing the objective function to extract a set of second structure and motion parameters of the unknown 3-D structure until the set of second structure and motion parameters are substantially identical to the set of first structure and motion parameters. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 16)
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- 14. The method of 13 wherein ellipses are fitted to the selected feature tracking points.
Specification