Advertisement

Fast 3D Structure From Motion with Missing Points from Registration of Partial Reconstructions

  • Nader Mahmoud
  • Stephane A. Nicolau
  • Arabi Keshk
  • Mostafa A. Ahmad
  • Luc Soler
  • Jacques Marescaux
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7378)

Abstract

Structure From Motion (SFM) technique is usually used for camera motion recovery and 3D shape estimation. But the major problem with SFM is the occlusion of feature points which lead to hallucinate them, and thus increase the computation time. In this paper, we propose a method for a 3D shape reconstruction from a video sequence based on registering multiple partial reconstructions (patches). The proposed method avoids relying on hallucination step, which means a reduction of computation time. A realistic 3D textured shape is provided using a texture mapping pipeline based on the recovered motion of the camera. Experimental results on both synthetic and real images show that the proposed method is more than 200 times (on average) faster than the classical SFM methods which need to hallucinate the occluded points.

Keywords

3D Reconstruction SFM Feature Tracking 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Tomasi, Kanade, T.: Shape and Motion from Image Streams Under Orthography: A Factoriza1tion Method. International Journal of Computer Vision 9(2), 137–154 (1992)CrossRefGoogle Scholar
  2. 2.
    Wu, C., Sun, Y., Chang, C.: Three-dimensional modeling from endoscopic video using geometric constraints via feature poisitioning. IEEE Trans. on Biomedical Engineering 54(7) (2007)Google Scholar
  3. 3.
    Schweighofer, G., Pinz, A.: Fast and Globally Convergent Structure and Motion Estimation for General Camera Models. In: Proceedings of British Machine Vision Conference, vol. 1, pp. 147–156 (2006)Google Scholar
  4. 4.
    Schweighofer, G., Segvic, S., Pinz, A.: Online/Realtime Structure and Motion for General Camera Models. In: IEEE Workshop on Applications of Computer Vision, pp. 1–6 (January 2008)Google Scholar
  5. 5.
    Mouragnon, E., Lhuillier, M., Dhome, M., Dekeyser, F., Sayd, P.: Generic and real-time structure from motion using local bundle adjustment. Image and Vision Computing 27(8), 1178–1193 (2009)CrossRefGoogle Scholar
  6. 6.
    Matthies, L., Kanade, T., Szeliski, R.: Kalman filter-based algorithms for estimating depth from image sequences. International Journal of Computer Vision 3(3), 209–238 (1989)CrossRefGoogle Scholar
  7. 7.
    Mazzon, R.: Real-time structure from motion for monocular and stereo cameras. In: MELECON 15th IEEE Mediterranean Electrotechnical Conference, pp. 498–503 (April 2010)Google Scholar
  8. 8.
    Jacobs, D.: Linear fitting with missing data: applications to structure-from-motion and to characterizing intensity images. In: Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 206–212 (June 1997)Google Scholar
  9. 9.
    Poelman, C.J., Kanade, T.: A paraperspective factorization method for shape and motion recovery. IEEE Transactions on Pattern Analysis and Machine Intelligence 19(3), 206–218 (1997)CrossRefGoogle Scholar
  10. 10.
    Christy, S., Horaud, R.: Euclidean shape and motion from multiple perspective views by affine iterations. IEEE Transactions on Pattern Analysis and Machine Intelligence 18(11), 1098–1104 (1996)CrossRefGoogle Scholar
  11. 11.
    Arun, K.S., Huang, T.S., Blostein, S.D.: Least-Squares Fitting of Two 3D Point Sets. IEEE Transactions on Pattern Analysis and Machine Intelligence 9(5), 698–700 (1987)CrossRefGoogle Scholar
  12. 12.
    Jianbo, S., Tomasi, C.: Good features to track. In: Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 593–600 (June 1994)Google Scholar
  13. 13.
    Lucas, B.D., Kanade, T.: An iterative image registration technique with an application to stereo vision. In: Proceedings of Imaging Understanding Workshop, pp. 121–130 (1981)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Nader Mahmoud
    • 1
    • 2
  • Stephane A. Nicolau
    • 1
  • Arabi Keshk
    • 2
  • Mostafa A. Ahmad
    • 2
  • Luc Soler
    • 1
  • Jacques Marescaux
    • 1
  1. 1.IRCAD (Institut de Recherche contre les Cancers de l’Appareil Digestif)France
  2. 2.Department of Computer Science, Faculty of Computers and InformationMenofia UniversityEgypt

Personalised recommendations