| 摘要 |
A modeling engine (ME) for generating or“bootstrapping”a three dimensional edge model (3DEM) from two stereo pairs of images and correcting engine (CE) for correcting a camera model associated with an image are provided. The ME back projects edge detected images into 3DEMs using camera models associated with the stereo images, updates and stereo updates voxel probabilities in the 3DEMs with back projections of the edge detected images, and then merges the 3DEMs together to create a“sparse”3DEM. The CE calculates a registration solution mapping an edge detected image of an image to an expected edge image. The expected edge image is a projection of a 3DEM using a camera model associated with the image. The CE corrects the camera model by applying the registration solution to the camera model based on determining whether the registration solution is a high confidence registration solution. |
