三维欧氏重构的快速算法

A Fast Algorithm of Hierarchical Reconstruction

提出一种分层三维欧氏重构算法。以仿射投影来逼近透视投影,采用线性迭代估计射影深度,通过测量矩阵的奇异值分解实现射影重构。然后利用场景中的平面与像平面的单应矩阵关于摄像机内参数的约束来实现摄象机的标定,最后求解一个满足欧氏重构条件的4×4非奇异矩阵,通过此矩阵将射影重构变换为欧氏重构。实验结果表明该算法是行之有效的。

In this paper, we propose an algorithm for hierarchical reconstruction. The affine projection is used to approximate perspective projection; the projective depths are iteratively estimated by linear iterative method. And then, the projective reconstruction is obtained by SVD of the measurement matrix. The intrinsic parameters of camera are computed by the homography of scene plane to the image plane, finally a 4x4 non-singular matrix is evaluated, which satisfies the conditions of Euclidean reconstruction. This matrix can transform projective reconstruction into Euclidean reconstruction. The result indicates our method is efficient and robust.