Structure from Motion.ppt

CSE 803 Fall 2008 Stockman Structure from Motion A moving camera/computer computes the 3D structure of the scene and its own motion Sensing 3D scene structure via a moving camera Assumptions for now The scene is rigid. The scene may move or the camera may move giving a sequence of 2 or more 2D images Corresponding 2D image points (Pi, Pj) are available across the images What can be computed The 3D coordinates of the scene points The motion of the camera From 2D point correspondences, compute 3D points and TR applications We can compute a 3D model of a landmark from a video We can compute th