System and method for real-time large image homography processing

摘要

A method for image processing performed by a computing device includes: (a) receiving one or more images and preprocessing the one or more images by extracting one or more features from the one or more images; (b) estimating image homographies (and/or fundamental matrices) based on the one or more features extracted from the one or more images; (c) determining particle trajectories based on composition of the image homographies (and/or fundamental matrices), wherein a particle trajectory comprises image pixel points identified in a subset of the one or more images; and (d) determining a joint estimation of camera pose, camera parameters, and a dense depth map using the particle trajectories.