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Robust Reconstruction of 3D Points from Images Rui Rodrigues & António Ramires Fernandes In ICIP - International Conference on Image Processing, IEEE Press, (to be published). October, 2004. Abstract
This paper presents a robust approach for 3D point reconstruction
based on a set of images taken from astatic scene
with known, but not necessarily exact or regular, camera
parameters. The points to be reconstructed are chosen from
the contours of images, and a world-based formulation of
the reconstruction problem and associated epipolar geometry
is used. The result is a powerful mean of transparently
integrating contributions from multiple images, and
increased robustness to situations such as occlusions or apparent
contours. Two steps for adding robustness are proposed:
cross-checking, which validates a reconstructed point
taken from an image by projecting it on a special subset of
the remaining images; and merging, which fuses pairs of reconstructed
points that are close in 3D space and that were
initially chosen from different images. Results obtained
with a synthetic scene (for ground truth comparison and
error assessment), and two real scenes show the improved
robustness achieved with the steps proposed.
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