Recovering Three-Dimensional Structure from Motion with Surface Reconstruction

摘要

This paper addresses the computational role that the construction of a completesurface representation may play in the recovery of 3-D structure from motion. We first discuss the need to integrate surface reconstruction with the structure-from-motion process, both on computational and perceptual grounds. We then present a model that combines a feature-based structure-from-motion algorithm with a smooth surface interpolation mechanism. This model allows multiple surfaces to be represented in given viewing direction, incorporates constraints on surface structure from object boundaries, and groups image features on the basis of their 2-D image motion to segregate features onto multiple surfaces. We present the results of computer simulations that relate the behavior of this model to psychophysical observations. In a companion paper, we discuss further perceptual observations regarding the possible role of surface reconstruction in the human recovery of 3-D structure from motion. 3D Motion, Motion analysis, Surface perception, Structure from motion, Surface reconstruction.