3-D reconstruction and registration

A non-transitory computer readable medium encoded with a computer program, the program comprising instructions that when executed by data processing apparatus cause the data processing apparatus to perform operations comprising:

• accessing multiple different images of an object taken by one or more cameras;
• selecting one of the accessed images as a reference image;
• identifying corresponding features between the reference image and one or more different ones of the accessed images;
• determining first camera pose information for each accessed image based on one or more of the corresponding features, each first camera pose information indicative of a relationship between an imaging device and the object;
• determining a first three-dimensional structure of the object based on first camera pose information of two of the accessed images;
• generating a second three-dimensional structure and a second camera pose information for each accessed image based on the first three-dimensional structure and the first camera pose information for each accessed image;
• projecting points of the reference image to the second three-dimensional structure based on the second camera pose information associated with the reference image;
• re-projecting the projected points onto a second one of the accessed images based on the second camera pose information associated with the second one of the accessed images;
• and
• using the re-projected points to register the second one of the accessed images in three dimensions.

An image processing system comprising:

• a memory configured to store multiple images of an object taken by one or more cameras;
• and
• processor electronics in communication with the memory, configured to perform operations comprising:
• accessing multiple different images of the object;
• selecting one of the accessed images as a reference image;
• identifying corresponding features between the reference image and one or more different ones of the accessed images;
• determining first camera pose information for each accessed image based on one or more of the corresponding features, each first camera pose information indicative of a relationship between an imaging device and the object;
• determining a first three-dimensional structure of the object based on first camera pose information of two of the accessed images;
• generating a second three-dimensional structure and a second camera pose information for each accessed image based on the first three-dimensional structure and the first camera pose information for each accessed image;
• projecting points of the reference image to the second three-dimensional structure based on the second camera pose information associated with the reference image;
• re-projecting the projected points onto a second one of the accessed images based on the second camera pose information associated with the second one of the accessed images;
• and
• using the re-projected points to register the second one of the accessed images in three dimensions.