5 Camera Calibration Single Camera Structure from Motion KLT–Tracker or SIFT filter out feature pointsRANSAC with multi-view constraintsminimizes the error of 3D points (Gaussian distribution)d(….) = Euclidean distancePj = 3D object pointAk = 3x4 camera matrixp(j,k) = K images J trajectories of 2D feature point
6 Camera Calibration Multi camera Structure from Motion Register N reconstructions into global system (H)find and merge 3D object points (pairwise match)(color intensity , uniqueness constraint)
7 Camera Calibration Tensor Voting filter (noise) Least Squares filter (smooth)3D surface reconstruction
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