Robust Reconstruction of 3D Points from Images (WP-L2)

Author(s) : Rui Rodrigues (Universidade do Minho, Portugal) António Fernandes (Universidade do Minho, Portugal)

Abstract : This paper presents a robust approach for 3D point reconstruction based on a set of images taken from a static scene with known, but not necessarily exact or regular, camera parameters. The points to be reconstructed are chosen from the contours of images, and a \emph{world-based formulation} of the reconstruction problem and associated epipolar geometry is used. The result is a powerful mean of transparently integrating contributions from multiple images, and increased robustness to situations such as occlusions or apparent contours. Two steps for adding robustness are proposed: \emph{cross-checking}, which validates a reconstructed point taken from an image by projecting it on a special subset of the remaining images; and \emph{merging}, which fuses pairs of reconstructed points that are close in 3D space and that were initially chosen from different images. Results obtained with a synthetic scene (for ground truth comparison and error assessment), and two real scenes show the improved robustness achieved with the steps proposed.

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