Structure from Motion - ToF-aided 3D Reconstruction of Isometric Surfaces

S. Jafar Hosseini, Helder Araújo

2014

Abstract

This paper deals with structure-from-motion (SfM) for non-rigid surfaces that undergo isometric motion. Our SfM framework aims at the joint estimation of the 3D surface and the camera motion by combining a ToF range sensor and a monocular RGB camera through a template-based approach. Our goal is to use the 2D low-resolution depth estimates provided by the TOF camera, in order to facilitate the estimation of non-rigid structure using the high-resolution images obtained by means of a RGB camera. In this paper, we model isometric surfaces with a triangular mesh. The ToF sensor is used to obtain the depth of a sparse set of 3D feature points, from which the depth of the mesh vertices can be recovered using a multivariate linear system. Subsequently, we form a non-linear constraint based on the projected length of each edge. A second non-linear constraint is then used for minimizing re-projection errors. These constraints are finally incorporated into an optimization scheme to solve for structure and motion. Experimental results show that the proposed approach has good performance even if only a low-resolution depth image is used.

Paper Citation

in Harvard Style

Hosseini S. and Araújo H. (2014). Structure from Motion - ToF-aided 3D Reconstruction of Isometric Surfaces . In Proceedings of the 3rd International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM, ISBN 978-989-758-018-5, pages 544-552. DOI: 10.5220/0004787505440552

in Bibtex Style

@conference{icpram14,
author={S. Jafar Hosseini and Helder Araújo},
title={Structure from Motion - ToF-aided 3D Reconstruction of Isometric Surfaces},
booktitle={Proceedings of the 3rd International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,},
year={2014},
pages={544-552},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004787505440552},
isbn={978-989-758-018-5},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 3rd International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,
TI - Structure from Motion - ToF-aided 3D Reconstruction of Isometric Surfaces
SN - 978-989-758-018-5
AU - Hosseini S.
AU - Araújo H.
PY - 2014
SP - 544
EP - 552
DO - 10.5220/0004787505440552