US 2016/0104286 A1 · Plane-Based Self-Calibration for Structure from Motion

Abstract

Robust techniques for self-calibration of a moving camera observing a planar scene. Plane-based self-calibration techniques may take as input the homographies between images estimated from point correspondences and provide an estimate of the focal lengths of all the cameras. A plane-based self-calibration technique may be based on the enumeration of the inherently bounded space of the focal lengths. Each sample of the search space defines a plane in the 3D space and in turn produces a tentative Euclidean reconstruction of all the cameras that is then scored. The sample with the best score is chosen and the final focal lengths and camera motions are computed. Variations on this technique handle both constant focal length cases and varying focal length cases.

Claims20

Dependent claims

A method, comprising:

generating, by one or more computing devices, a reconstruction for an image sequence comprising a plurality of frames according to a set of inter-image homographies estimated from point correspondences of structures in an entire scene for the image sequence, wherein each inter-image homography represents a projective transformation from one image in the sequence to another image in the sequence, wherein said generating comprises:
estimating at least one reconstruction at each of two or more focal lengths according to the set of inter-image homographies, wherein each reconstruction comprises camera motion and camera intrinsic parameters at each frame of the image sequence and a plane normal for the image sequence;
and
selecting one of the reconstructions that best fits the set of inter-image homographies as the reconstruction for the image sequence.

1 more element

A system, comprising:

at least one processor;
and
a memory comprising program instructions, wherein the program instructions are executable by at least one of the one or more processors to generate a reconstruction for an image sequence comprising a plurality of frames according to a set of inter-image homographies estimated from point correspondences of structures in an entire scene for the image sequence, wherein each inter-image homography represents a projective transformation from one image in the sequence to another image in the sequence, wherein to generate the reconstruction for the image sequence, the program instructions are executable by the at least one processor to:
estimate at least one reconstruction at each of two or more focal lengths according to the set of inter-image homographies, wherein each reconstruction comprises camera motion and camera intrinsic parameters at each frame of the image sequence and a plane normal for the image sequence;
and
select one of the reconstructions that best fits the set of inter-image homographies as the reconstruction for the image sequence.

3 more elements

A non-transitory computer-readable storage medium storing program instructions, wherein the program instructions are computer-executable to implement:

generating a reconstruction for an image sequence comprising a plurality of frames according to a set of inter-image homographies estimated from point correspondences of structures in an entire scene for the image sequence, wherein each inter-image homography represents a projective transformation from one image in the sequence to another image in the sequence, wherein said generating comprises:
estimating at least one reconstruction at each of two or more focal lengths according to the set of inter-image homographies, wherein each reconstruction comprises camera motion and camera intrinsic parameters at each frame of the image sequence and a plane normal for the image sequence;
and
selecting one of the reconstructions that best fits the set of inter-image homographies as the reconstruction for the image sequence.

1 more element

Dependencies are inferred from the claim text.

Plane-Based Self-Calibration for Structure from Motion

Life of this patent

Plane-Based Self-Calibration for Structure from Motion

Life of this patent

Abstract

Claims20