Method and system for 3D reconstruction of multiple views with altering search path and occlusion modeling

A method of reconstructing 3D image information from a plurality of 2D images of a scene, the method comprising the steps of:

• receiving a plurality of image features corresponded between different 2D views of a scene, the corresponded image features deviating between different views as a result of camera relative motion;
• determining image features of the received plurality of image features that are occluded views;
• determining image features of the received plurality of image features that are confident seeds associated with 3D depth information;
• and
• propagating 3D depth information from the confident seeds to neighboring image features while avoiding image features that have been determined to be occluded views, to reconstruct 3D image information from a plurality of 2D images scene;
• wherein the step of propagating 3D depth information from the confident seeds to neighboring image features comprises the step of propagating 3D depth information from the confident seeds to neighboring image features as long as a confident seed is determined to be within the neighboring image feature's volume of uncertainly, or error region;
• and
• wherein 3D depth information is propagated from the confident seed to a neighboring image feature as long as the neighboring image feature's volume of uncertainty, or error region, substantially coincides with at least one of the confident seed's local minimum location and global minimum location.

A method of reconstructing 3D image information from a plurality of 2D images of a scene, the method comprising the steps of:

• receiving a plurality of image features corresponded between different 2D views of a scene, the corresponded image features deviating between different views as a result of camera relative motion;
• determining image features of the received plurality of image features that are occluded views;
• determining image features of the received plurality of image features that are confident seeds associated with 3D depth information;
• and
• propagating 3D depth information from the confident seeds to neighboring image features, while avoiding image features that have been determined to be occluded views, to reconstruct 3D image information from a plurality of 2D images scene;
• wherein the 3D depth information being determined for confident seeds and for neighboring image features is cross-checked for consistency among all of the non-occluded views at a depth-to-be-determined.

An image processing system comprising:

• a memory;
• a controller/processor electrically coupled to the memory;
• a 3D image reconstructor, electrically coupled to the controller/processor and to the memory, for:
• receiving a plurality of image features corresponded between different 2D views of a scene, the corresponded image features deviating between different views as a result of camera relative motion;
• determining image features of the received plurality of image features that are occluded views;
• determining image features of the received plurality of image features that are confident seeds associated with 3D depth information, the confident seeds being associated with reliable depth information;
• and
• propagating 3D depth information from the confident seeds to neighboring image features, while avoiding image features that have been determined to be occluded views.

A computer readable medium including computer instructions for a 3D image reconstruction computer system, the computer instructions comprising instructions for:

• receiving a plurality of image features corresponded between different 2D views of a scene, the corresponded image features deviating between different views as a result of camera relative motion;
• determining image features of the received plurality of image features that are occluded views;
• determining image features of the received plurality of image features that are confident seeds associated with 3D depth information, the confident seeds being associated with reliable depth information;
• and
• propagating 3D depth information from the confident seeds to neighboring image features, while avoiding image features that have been determined to be occluded views.

A computer readable medium including computer instructions for a 3D image reconstruction computer system, the computer instructions comprising instructions for:

• receiving a plurality of image features corresponded between different 2D views of a scene, the corresponded image features deviating between different views as a result of camera relative motion;
• determining image features of the received plurality of image features that are occluded views;
• determining image features of the received plurality of image features that are confident seeds associated with 3D depth information;
• and propagating 3D depth information from the confident seeds to neighboring image features, while avoiding image features that have been determined to be occluded views,
• wherein the propagating comprises propagating 3D depth information from the confident seeds to neighboring image features as long as a confident seed is determined to be within the neighboring image feature's volume of uncertainty, or error region, and
• wherein 3D depth information is propagated from the confident seed to a neighboring image feature as long as the neighboring image feature's volume of uncertainty, or error region, substantially coincides with at least one of the confident seed's local minimum location and global minimum location.

A computer readable medium including computer instructions for a 3D image reconstruction computer system, the computer instructions comprising instructions for:

• receiving a plurality of image features corresponded between different 2D views of a scene, the corresponded image features deviating between different views as a result of camera relative motion;
• determining image features of the received plurality of image features that are occluded views;
• determining image features of the received plurality of image features that are confident seeds associated with 3D depth information;
• and propagating 3D depth information from the confident seeds to neighboring image features, while avoiding image features that have been determined to be occluded views,
• wherein the 3D depth information being determined for confident seeds and for neighboring image features is cross-checked for consistency among all of the non-occluded views at a depth-to-be-determined.

An electrical device comprising:

• a data memory;
• a program memory including computer instructions for 3D image reconstruction;
• and
• a controller/processor, electrically coupled to the first interface, the data memory and the program memory, for
• storing image information corresponding to a plurality of image features corresponded between different 2D views of a scene, the corresponded image features deviating between different views as a result of camera relative motion;
• determining image features of the stored plurality of image features that are occluded views;
• determining image features of the stored plurality of image features that are confident seeds associated with 3D depth information, the confident seeds being associated with reliable depth information;
• and
• propagating 3D depth information from the confident seeds to neighboring image features, while avoiding image features that have been determined to be occluded views.