Sequential Motion Estimation and Refinement for Applications of Real-time Reconstruction from Stereo Vision

This paper presents a new approach to the feature-matching problem for 3D reconstruction by taking advantage of GPS and IMU data, along with a prior calibrated stereo camera system. It is expected that pose estimates and calibration can be used to increase feature matching speed and accuracy. Given pose estimates of cameras and extracted features from images, the algorithm first enumerates feature matches based on stereo projection constraints in 2D and then backprojects them to 3D. Then, a grid search algorithm over potential camera poses is proposed to match the 3D features and find the largest group of 3D feature matches between pairs of stereo frames. This approach will provide pose accuracy to within the space that each grid region covers. Further refinement of relative camera poses is performed with an iteratively re-weighted least squares (IRLS) method in order to reject outliers in the 3D matches. The algorithm is shown to be capable of running in real-time correctly, where the majority of processing time is taken by feature extraction and description. The method is shown to outperform standard open source software for reconstruction from imagery.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

Electrical and Computer Engineering

Department dc:contributor.department

Electrical and Computer Engineering

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

2011

Author dc:creator

• Stefanik, Kevin Vincent

Chair dc:contributor.committeechair

• Kochersberger, Kevin B.

Committee members dc:contributor.committeemember

• Abbott, A. Lynn
• Woolsey, Craig A.

• feature points
• stereo vision
• bundle adjustment
• matching
• Drone aircraft
• SURF
• 3D reconstruction
• IRLS
• terrain mapping

Statement dc:rights

• In Copyright

Licence dc:rights.uri

• http://rightsstatements.org/vocab/InC/1.0/

Language dc:language.iso

en_US

Dc Identifier Other

etd-06222011-124334

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/76802