3D wire-frame integration from image sequences

摘要

When integrating visual features into 3D for a structure from motion algorithm, the connectivity and relationships of features are an important adjunct to any quantitative 3D geometry. This paper describes a general purpose vision system which aims to perceive and refine this topology in conjunction with geometry, using edges, vertices and isolated corners extracted from a sequence of monocular images of an unconstrained scene. Rules which tackle the practical difficulties of imperfect image processing and obscuration features are defined. Results are shown for a rotating view of a polyhedral object and for an outdoor scene viewed from a moving vehicle.