Direct 3D Metric Reconstruction from Multiple Views Using Differential Evolution

摘要

In this work we propose the use of Differential Evolution as a numerical method to estimate directly the orientation and position of several views taken by a same camera. First, from two views, the camera parameters are estimated and also the other parameters (orientation and position) for both views. We can estimate 3D points in this configuration and then, in a second step, new views, and also new 3D points, are added to the initial reconstruction calculated in the first step. We tested our approach with a simulation using four views. The results clearly show the good performance of the proposed approach.