Method for recovering 3D scene structure and camera motion from points, lines and/or directly from the image intensities
US6859549B1 · kind B1 · utility
Assignee
Inventor
Key dates
| Filing date | Sep 1, 2000 |
| Grant date | Feb 22, 2005 |
| Priority date | — |
| Expiry date | Jan 16, 2022 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V2201/12
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
An algorithm for recovering structure and motion from points, lines and/or image intensities. The algorithm combines feature based reconstruction and direct methods. The present invention is directed to a method for recovering 3D scene structure and camera motion from image data obtained from a multi-image sequence, wherein a reference image of the sequence is taken by a camera at a reference perspective and one or more successive images of the sequence are taken at one or more successive different perspectives by translating and/or rotating the camera. The method comprising the steps of (a) determining image data shifts for each successive image with respect to the reference image; the shifts being derived from the camera translation and/or rotation from the reference perspective to the successive different perspectives; (b) constructing a shift data matrix that incorporates the image data shifts for each image; (c) calculating two rank-3 factor matrices from the shift data matrix using SVD, one rank-3 factor matrix corresponding the 3D structure and the other rank-3 factor matrix corresponding the camera motion; (d) recovering the 3D structure from the 3D structure matrix using S…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.