Initialization for robust video-based structure from motion

摘要

An initialization technique that may, for example, be used in an adaptive reconstruction algorithm implemented by structure from motion (SFM) techniques. The initialization technique computes an initial reconstruction from a subset of frames in an image sequence. The initialization technique may be performed to determine and reconstruct a set of initial keyframes covering a portion of the image sequence according to the point trajectories. In the initialization technique, a set of temporally spaced keyframe candidates is determined and two initial keyframes are selected from the set of keyframe candidates. The two initial keyframes are reconstructed, and then one or more additional keyframes between the two initial keyframes are selected and reconstructed.

主权项

1. A method, comprising:
initializing, by one or more computing devices, a reconstruction of camera motion and camera intrinsic parameters for an image sequence including a plurality of frames, wherein said initializing the reconstruction comprises:
obtaining a set of point trajectories for the image sequence;determining a subset of the plurality of frames as keyframes in the image sequence;selecting a pair of the keyframes as initial keyframes for the image sequence according to the set of point trajectories; andgenerating an initial reconstruction of camera motion and camera intrinsic parameters for the image sequence according to the pair of initial keyframes and at least a portion of the set of point trajectories, wherein the initial reconstruction covers a portion of the image sequence.