Method and system for recovery of 3D scene structure and camera motion from a video sequence

US9196054B2 · kind B2 · utility

Assignee

• THE PROVOST, FELLOWS, FOUNDATION SCHOLARS, AND THE OTHER MEMBERS OF BOARD, OF THE COLLEGE OF THE HOLY AND UNDIVIDED TRINITY OF QUEEN ELIZABETH NEAR DUBLIN · IE

Inventors

• Sofiane Yous · Dublin, IE
• Peter Redmond · New Ringgold, US
• Gerard Lacey · Wicklow, IE

Key dates

• Filing date: Nov 11, 2011
• Grant date: Nov 24, 2015
• Expiry date: Mar 25, 2032

Classification

• Technology area (CPC G): Physics
• CPC primary: G06T2207/30244
• WIPO field: Computer technology
• WIPO sector: Electrical engineering

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.