| 摘要 |
Systems and methods for adjusting a camera parameter associated with a plurality of two-dimensional images are provided. Matched features can be selected as constraints for bundle adjustment using a graph model constructed based on the matched features. The graph model can have a plurality of nodes including a source node, a sink node, a point node for every matched feature, and a pose pair node associated with each pose pair viewing a matched feature. The graph model can include a plurality of edges interconnecting the plurality of nodes in the graph model. Each of these edges can be assigned a capacity and a cost based on various parameters. A flow can be computed through each of the edges of the graph model using, for instance, a minimum-cost maximum-flow algorithm. Matched features can be selected for bundle adjustment based on the flows of the edges in the graph model. |
| 主权项 |
1. A computer-implemented method for adjusting one or more camera parameters associated with a plurality of images, the method comprising:
identifying, by one or more computing devices, a matched feature in the plurality of images, the matched feature associated with at least one pose pair, the at least one pose pair comprising two images of the plurality of images that depict the matched feature; constructing, by the one or more computing devices, a graph model based at least in part on the matched feature, the graph model comprising a plurality of nodes including a source node and a sink node, the graph model comprising a plurality of edges; computing, by the one or more computing devices, a flow through the plurality of edges in the graph model; and selecting, by the one or more computing devices, the matched feature as a constraint for adjusting the camera parameter based at least in part on the flow computed through the plurality of edges in the graph model; wherein selecting the matched feature as a constraint for adjusting the camera parameter based on the flow computed through the plurality of edges in the graph model comprises; comparing, by the one or more computing devices, the flow of a source edge in the graph model to a threshold; and selecting, by the one or more computing devices, the matched feature as a constraint when the flow exceeds the threshold. |
