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Toward Real-Time Dense 3d Reconstruction using Stereo Vision – Extending Structure-from-Motion with dense depth information.
KTH, School of Computer Science and Communication (CSC).
2011 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

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
2011.
Series
Trita-CSC-E, ISSN 1653-5715 ; 2011:040
National Category
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-130672OAI: oai:DiVA.org:kth-130672DiVA: diva2:654119
Educational program
Master of Science in Engineering - Electrical Engineering
Uppsok
Technology
Supervisors
Examiners
Available from: 2013-10-07 Created: 2013-10-07

Open Access in DiVA

No full text

Other links

http://www.nada.kth.se/utbildning/grukth/exjobb/rapportlistor/2011/rapporter11/braux-zin_jim_11034.pdf
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Output format
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