Plane-Based Self-Calibration for Structure from Motion

摘要

Robust techniques for self-calibration of a moving camera observing a planar scene. Plane-based self-calibration techniques may take as input the homographies between images estimated from point correspondences and provide an estimate of the focal lengths of all the cameras. A plane-based self-calibration technique may be based on the enumeration of the inherently bounded space of the focal lengths. Each sample of the search space defines a plane in the 3D space and in turn produces a tentative Euclidean reconstruction of all the cameras that is then scored. The sample with the best score is chosen and the final focal lengths and camera motions are computed. Variations on this technique handle both constant focal length cases and varying focal length cases.

主权项

1. A method, comprising:
generating, by one or more computing devices, a reconstruction for an image sequence comprising a plurality of frames according to a set of inter-image homographies estimated from point correspondences of structures in an entire scene for the image sequence, wherein each inter-image homography represents a projective transformation from one image in the sequence to another image in the sequence, wherein said generating comprises:
estimating at least one reconstruction at each of two or more focal lengths according to the set of inter-image homographies, wherein each reconstruction comprises camera motion and camera intrinsic parameters at each frame of the image sequence and a plane normal for the image sequence; andselecting one of the reconstructions that best fits the set of inter-image homographies as the reconstruction for the image sequence.