Lab Course: Building 3D Models from image sequences
Course
- Lecturer(s):
- Start: 5. März 2003
- Dates:
- Curriculum: Diploma (Graduate)
- Diploma Area: B
Description
Detailed and realistic 3D models are key-features in producing high-quality computer generated images. However, creating such models from scratch still remains a non-trivial, time-consuming task and even an artistic challenge. Therefore, there is a constantly increasing need for 3D laser range scanning devices and methods, however, the accessibility to this technology is limited by ist extreme expensiveness. Thus, it would be desirable to have a method capable of generating visually satisfying reconstructions of a scene's geometry from an input of a sequence of images taken for example with a common digital camera. To achieve this, we theoretically only need the projective camera mappings. Having these, by utilizing the inverse camera mapping, we project the two corresponding image-points back into the 3D space and thus obtain two rays intersecting at the location of the genuine 3D point (the so-called triangulation algorithm). By conducting this procedure for all located pairs of corresponding image points we generate a more or less dense point-cloud in the 3D space. In order to obtain a renderable model, this point-cloud has to be further processed. In order to design and implement such a system, the following general problems have to be addressed: After a discussion of existing and novel solutions, the goal of this practical course will be the implementation and integration of these methods into a modular system for "3D-reconstruction from images".
Slides
- Introduction to Multi-View-Geometry (PDF document, 1.8 MB)
- Introduction to Multi-View-Geometry (bw) (PDF document, 2.0 MB)
- Metric Reconstruction and Selfcalibration (PDF document, 598 KB)
- Metric Reconstruction and Selfcalibration (bw) (PDF document, 581 KB)
- Dense Depthmap Estimation (bw) (PDF document, 335 KB)
- Dense Depthmap Estimation (PDF document, 275 KB)
- Structure and Motion (bw) (PDF document, 141 KB)
- Structure and Motion (PDF document, 142 KB)
Assignment Sheets
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Exercise 1: Dense-Depth-Estimation - Task 1 Assignment sheet (PDF document, 53 KB)
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Exercise 2: Projective-Reconstruction - Task 1 Assignment sheet (PDF document, 64 KB)
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Exercise 3: Dense-Depth-Estimation - Task 2 Assignment sheet (PDF document, 62 KB) |
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Exercise 4: Projective-Reconstruction - Task 2 Assignment sheet (PDF document, 54 KB) |
Additional Documents
- Dense Disparity Estimation (PDF document, 1.3 MB)
- Determining the Epipolar Geometry (PDF document, 0.9 MB)
- Newmat - Lib Files (ZIP archive, 667 KB)
- Programming Guidelines (PDF document, 804 KB)
- Sequential Updating of Projective Structure (PDF document, 877 KB)
- Triangulation (PDF document, 179 KB)