Toward Real-Time Dense 3d Reconstruction using Stereo Vision – Extending Structure-from-Motion with dense depth information.
Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Toward real-time dense 3d reconstruction using stereo vision
Extending Structure-from-Motion with dense depth information
By Jim Braux-Zin
State of the art Structure from Motion algorithms can produce a real-time sparse 3d map of the environment, in a fast, robust and efficient way. However, dense 3d maps would be very useful for accurate Augmented Reality with occlusion management. This project focus on generating accurate dense depth-maps in near real-time from the data provided by a Structure from Motion algorithm. The presented algorithm uses a TVL1 optimization scheme with a novel initialization from matched 2d keypoints. The generated depth-maps are good candidates for on-line 3d model generation and update.
Place, publisher, year, edition, pages
Trita-CSC-E, ISSN 1653-5715 ; 2011:040
IdentifiersURN: urn:nbn:se:kth:diva-130672OAI: oai:DiVA.org:kth-130672DiVA: diva2:654119
Master of Science in Engineering - Electrical Engineering