Keyframe selection for robust video-based structure from motion

摘要

An initialization technique is described for determining and reconstructing a set of initial keyframes covering a portion of an image sequence according to point trajectories that may, for example, be used in an adaptive reconstruction algorithm implemented by a structure from motion (SFM) technique. A goal of the initialization technique is to compute an initial reconstruction from a subset of frames in the image sequence. Two initial keyframes are selected from a set of temporally spaced keyframe candidates, the two initial keyframes are reconstructed, and then one or more additional keyframes between the two initial keyframes are selected and reconstructed. Output of the initialization technique is a set of initial keyframes and the initial reconstruction.