Plane detection and tracking for structure from motion
First Claim
1. A method of camera self-calibration for an image sequence implemented by a computing device, comprising:
- receiving, by the computing device, the image sequence comprising a plurality of frames;
determining, by the computing device, a set of inter-image homographies for the image sequence based on inlier point trajectories that follow a plane through at least one frame pair of the image sequence;
estimating, by the computing device, structure from motion and camera parameters for a plurality of focal lengths of a camera, the plurality of focal lengths generated based on the plurality of frames;
calculating, by the computing device, scores for the plurality of focal lengths based on how well the structure from motion and camera parameters for the respective focal lengths fit the set of inter-image homographies;
selecting, by the computing device, a particular focal length from the plurality of focal lengths based at least in part on the calculated scores for the respective focal lengths; and
outputting, by the computing device, a particular structure from motion and camera parameters corresponding to the particular focal length.
1 Assignment
0 Petitions
Accused Products
Abstract
Plane detection and tracking algorithms are described that may take point trajectories as input and provide as output a set of inter-image homographies. The inter-image homographies may, for example, be used to generate estimates for 3D camera motion, camera intrinsic parameters, and plane normals using a plane-based self-calibration algorithm. A plane detection and tracking algorithm may obtain a set of point trajectories for a set of images (e.g., a video sequence, or a set of still photographs). A 2D plane may be detected from the trajectories, and trajectories that follow the 2D plane through the images may be identified. The identified trajectories may be used to compute a set of inter-image homographies for the images as output.
28 Citations
20 Claims
-
1. A method of camera self-calibration for an image sequence implemented by a computing device, comprising:
-
receiving, by the computing device, the image sequence comprising a plurality of frames; determining, by the computing device, a set of inter-image homographies for the image sequence based on inlier point trajectories that follow a plane through at least one frame pair of the image sequence; estimating, by the computing device, structure from motion and camera parameters for a plurality of focal lengths of a camera, the plurality of focal lengths generated based on the plurality of frames; calculating, by the computing device, scores for the plurality of focal lengths based on how well the structure from motion and camera parameters for the respective focal lengths fit the set of inter-image homographies; selecting, by the computing device, a particular focal length from the plurality of focal lengths based at least in part on the calculated scores for the respective focal lengths; and outputting, by the computing device, a particular structure from motion and camera parameters corresponding to the particular focal length. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. A system, comprising:
-
at least one processor; and a memory comprising program instructions, wherein the program instructions are executable by the at least one processor to perform camera self-calibration for an image sequence by; receiving the image sequence comprising a plurality of frames; determining a set of inter-image homographies for the image sequence based on inlier point trajectories that follow a plane through at least one frame pair of the image sequence; estimating a plurality of focal lengths of a camera; estimating structure from motion and camera parameters for the plurality of focal lengths; calculating scores for the plurality of focal lengths based on how well the structure from motion and camera parameters for the respective focal lengths fit the set of inter-image homographies; selecting a particular focal length from the plurality of focal lengths based at least in part on the calculated scores for the respective focal lengths; and outputting a particular structure from motion and camera parameters corresponding to the particular focal length. - View Dependent Claims (12, 13, 14, 15, 16, 17)
-
-
18. A method of plane-based camera self-calibration with varying focal length implemented by a computing device, comprising:
-
receiving, by the computing device, an image sequence comprising a plurality of frames; generating, by the computing device, a set of inter-image homographies for the image sequence using a plane detection and tracking algorithm; partitioning, by the computing device, the image sequence into a plurality of segments; generating, by the computing device, a plurality of reconstructions by; generating, by the computing device, a plurality of focal lengths of a camera based on the plurality of frames; for each of the plurality of focal lengths; setting, by the computing device, the focal length for a first segment of the plurality of segments and computing, by the computing device, at least one plane normal according to a homography for the first segment; and for the at least one plane normal; estimating, by the computing device, a camera motion for the first segment according to the plane normal; refining, by the computing device, the camera motion for the first segment, camera parameters for the first segment, and the plane normal for the first segment according to the estimation for the first segment; and for each subsequent segment of the plurality of segments;
setting, by the computing device, the focal length for the subsequent segment to a refined focal length corresponding to a previous segment;
estimating, by the computing device, a camera motion for the subsequent segment according to a refined plane normal corresponding to a previous segment; and
refining, by the computing device, the camera motion for the subsequent segment, camera parameters for the subsequent segment, and the plane normal for the subsequent segment according to the estimation for the subsequent segment; andfitting, by the computing device, each of the reconstructions to the set of inter-image homographies for the image sequence; calculating, by the computing device, a score for each of the reconstructions based on the fittings; and outputting, by the computing device, a chosen reconstruction of the plurality of reconstructions based at least in part on the calculated scores. - View Dependent Claims (19, 20)
-
Specification