Structure from motion based on homogeneous regions

Patrik Vinovrški (2016) Structure from motion based on homogeneous regions. EngD thesis.

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Abstract

Acquiring structure from motion requires a solution to multiple problems in the field of computer vision. We present a general pipeline for the reconstruction of 3D models from multiple calibrated images and the implementation of it's stages. The main stages are feature extraction, feature matching, camera pose estimation and finally scene reconstruction. The selection of homogenous regions as features is based on the assumption that they mostly represent planar surfaces of the imaged scene, which allows us to represent mappings of such regions between images with homographies. In the search for feature matches is computationaly more efficient to transform the regions into a normalized form and represent it with a vector descriptor. The subsequent region normalization technique improves the accuracy in the stages of feature matching and camera pose estimation. A novel method of multiple homography decomposition is used to obtain the camera poses and scene structure allowing us to create a reconstruction of the imaged scene. The presented methods are analyzed using synthetic data.

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