Detailed Real-Time Urban 3D Reconstruction from Video |
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| Authors: | M Pollefeys D Nistér J-M Frahm A Akbarzadeh P Mordohai B Clipp C Engels D Gallup S-J Kim P Merrell C Salmi S Sinha B Talton L Wang Q Yang H Stewénius R Yang G Welch H Towles |
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| Affiliation: | (1) Department of Computer Science, University of North Carolina, Chapel Hill, USA;(2) Center for Visualization and Virtual Environments, University of Kentucky, Lexington, USA |
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| Abstract: | The paper presents a system for automatic, geo-registered, real-time 3D reconstruction from video of urban scenes. The system
collects video streams, as well as GPS and inertia measurements in order to place the reconstructed models in geo-registered
coordinates. It is designed using current state of the art real-time modules for all processing steps. It employs commodity
graphics hardware and standard CPU’s to achieve real-time performance. We present the main considerations in designing the
system and the steps of the processing pipeline. Our system extends existing algorithms to meet the robustness and variability
necessary to operate out of the lab. To account for the large dynamic range of outdoor videos the processing pipeline estimates
global camera gain changes in the feature tracking stage and efficiently compensates for these in stereo estimation without
impacting the real-time performance. The required accuracy for many applications is achieved with a two-step stereo reconstruction
process exploiting the redundancy across frames. We show results on real video sequences comprising hundreds of thousands
of frames. |
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| Keywords: | 3D reconstruction Stereo vision Structure from motion Large scale modeling Urban reconstruction Plane sweeping Depth map fusion |
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