Feature-free photogrammetric 3d imaging with cameras under unconstrained motion

A computing device, comprising:

• a processor, memory, and instructions stored on the memory that when executed by the processor, direct the computing device to:
• receive a set of images;
• generate a composite image by:
• applying homographic rectification to warp all images of the set of images onto a common plane;
• applying a rectification model to undo perspective distortion in each image of the set of images;
• and
• applying an undistortion model for adjusting for camera imperfections of a camera that captured each image of the set of images;
• generate a height map co-registered with the composite image;
• and
• output the height map and the composite image for display.

A computer-readable storage medium having instructions stored thereon that when executed by a computing device, direct the computing device to:

• receive a set of images;
• generate a composite image by:
• applying homographic rectification to warp all images of the set of images onto a common plane;
• applying a rectification model to undo perspective distortion in each image of the set of images;
• and
• applying an undistortion model for adjusting for camera imperfections of a camera that captured each image of the set of images;
• generate a height map co-registered with the composite image;
• and
• output the height map and the composite image for display.