Title:
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The design of a robust 3D Reconstruction system for video sequences in non controlled environments
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Author:
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Herrero Molina, Nicolás
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Other authors:
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Universitat Politècnica de Catalunya. Departament de Teoria del Senyal i Comunicacions; Landabaso Diaz, José Luís; Marqués Acosta, Fernando |
Abstract:
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Along this thesis, a novel and robust approach for obtaining 3D models from video
sequences captured with hand-held cameras is adressed. This work defines a fully
automatic pipeline that is able to deal with diferent types of sequences and acquiring devices. The designed and implemented system follows a divide and conquer
approach. An smart frame decimation process reduces the temporal redundancy
of the input video sequence and selects the best conditioned frames for the reconstruction step. Next, the video is split into overlapped clips with a fixed and small
number of Key-frames. This allows to parallelize the Structure and Motion process
which translates into a dramatic reduction in the computational complexity. The
short length of the clips allows an intensive search for the best solution at each
step of the reconstruction, which improves the overall system performance. The
process of feature tracking is embedded within the reconstruction loop for each clip
as a difference with other approaches. The last contribution of this thesis is a final
registration step that merges all the processed clips to the same coordinate frame.
This last step consists on a set of linear algorithms that combine information of
the structure (3D points) and motion (cameras) shared by partial reconstructions
of the same static scene to more accurately estimate their registration to the same
coordinate system. The performance for the presented algorithm as well as for the
global system is demonstrated in experiments with real data. |
Subject(s):
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-Àrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeo -Image processing--Digital techniques -Three-dimensional display systems -Imatges -- Processament -- Tècniques digitals -Visualització tridimensional (Informàtica) |
Rights:
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Document type:
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Research/Master Thesis |
Published by:
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Universitat Politècnica de Catalunya
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