Hyperspectral scene analysis via structure from motion

A method for determining structure from motion in hyperspectral imaging, the method including the steps of:

• acquiring a sequence of hyperspectral data cubes taken by an imaging device, each hyperspectral data cube containing intensity data, the intensity data being stored in dimensions of the hyperspectral data cube including a first spatial dimension, a second spatial dimension, and a spectrum dimension;
• establishing a set of baseline spectral features from a data cube for tracking between data cubes;
• establishing a set of standard features from a data cube for tracking between data cubes;
• matching, between data cubes, respective baseline features and standard features;
• extracting imaging device motion information based on relative positions of matched baseline and standard features;
• determining a baseline pair of data cubes;
• determining positions of respective baseline and standard features relative to the imaging device based on triangulation of imaging device motion between the baseline pair of data cubes;
• iteratively building a sparse structural reconstruction of the scene with a 3D point cloud of features by adding positions of baseline and standard features from additional data cubes.