Structure-from-motion for enclosed environments

[摘要] A structure-from-motion implementation for enclosed environments is presented. The variousaspects covered include a discussion on optimised luminance computations-a technique tocompute an optimally weighted luminance that maintains a greatest amount of data fidelity.Furthermore a visual engine is created that forms the basis of data input for reconstructionpurposes; such an inexpensive solution is found to offer realistic environments along with precisecontrol of scene and camera elements. A motion estimation system provides tracking informationof scene elements and an unscented Kalman filter is used as depth estimator. The elementsare combined into an accurate reconstructor for enclosed environments.

[发布机构] Stellenbosch University