Differential motions for recovering 3D structure and motions from an unstructured environment

摘要

Abstract: Present work is focused to real time algorithms for estimating 3D structure and motion from an unstructured environment, we assume an uncalibrated camera. Our approach can be divided into two stages. The first is a self- calibration process, which is performed by means of a rotating camera, subsequently a reconstruction process is accomplished by translation movement. In both stages no correspondences are found in an explicit way, alternatively correspondences and transformations matrices are calculated together. To this end, we combine optical flow constraint with a projective model of amoving camera. Additionally we implement a multi-resolution approach to solve the infinitesimal nature of optical flow constraint. We also found this work in the bottleneck time requirements existing in artificial vision systems that needs blending complex algorithms and huge amount of data. Results are presented to show the validity of the developed process. !6