Structure from Motion

3D-Rekonstruktion aus mehreren Ansichten

Structure from Motion (SfM, Struktur aus Bewegung) ist ein Prozess zum Schätzen der 3D-Struktur einer Szene aus einer Reihe von 2D-Bildern. Weitere Einzelheiten finden Sie unter Implement Visual SLAM in MATLAB.

Apps

Camera Calibrator	Estimate geometric parameters of a single camera
Stereo Camera Calibrator	Estimate geometric parameters of a stereo camera

Funktionen

alle erweitern

Detektieren von Merkmalen

`detectBRISKFeatures`	Detect BRISK features
`detectFASTFeatures`	Detect corners using FAST algorithm
`detectHarrisFeatures`	Detect corners using Harris–Stephens algorithm
`detectMinEigenFeatures`	Detect corners using minimum eigenvalue algorithm
`detectMSERFeatures`	Detect MSER features
`detectSIFTFeatures`	Detect scale invariant feature transform (SIFT) features (Seit R2021b)
`detectSURFFeatures`	Detect SURF features

Abgleichen von Merkmalen

`extractFeatures`	Extract interest point descriptors
`matchFeatures`	Find matching features
`matchFeaturesInRadius`	Find matching features within specified radius (Seit R2021a)
`vision.PointTracker`	Track points in video using Kanade-Lucas-Tomasi (KLT) algorithm

Schätzen von 3D-Strukturen

Speichern von Bild- und Kameradaten

`imageviewset`	Manage data for structure-from-motion, visual odometry, and visual SLAM (Seit R2020a)
`worldpointset`	Manage 3-D to 2-D point correspondences (Seit R2020b)
`cameraIntrinsics`	Object for storing intrinsic camera parameters
`rigidtform3d`	3-D rigid geometric transformation (Seit R2022b)
`affinetform3d`	3-D affine geometric transformation (Seit R2022b)

Schätzen der Kameraposen

`estimateEssentialMatrix`	Estimate essential matrix from corresponding points in a pair of images
`estimateFundamentalMatrix`	Estimate fundamental matrix from corresponding points in stereo images
`estworldpose`	Estimate camera pose from 3-D to 2-D point correspondences (Seit R2022b)
`estrelpose`	Calculate relative rotation and translation between camera poses (Seit R2022b)

Triangulieren der Bildpunkte

`pointTrack`	Object for storing matching points from multiple views
`findTracks`	Find matched points across multiple views (Seit R2020a)
`triangulate`	3-D locations of undistorted matching points in stereo images
`triangulateMultiview`	3-D locations of world points matched across multiple images

Optimieren von Kameraposen und 3D-Punkten

`bundleAdjustment`	Adjust collection of 3-D points and camera poses
`bundleAdjustmentMotion`	Adjust collection of 3-D points and camera poses using motion-only bundle adjustment (Seit R2020a)
`bundleAdjustmentStructure`	Refine 3-D points using structure-only bundle adjustment (Seit R2020a)

Visualisieren der Ergebnisse

`stereoAnaglyph`	Create red-cyan anaglyph from stereo pair of images
`pcshow`	Plot 3-D point cloud
`plotCamera`	Plot a camera in 3-D coordinates
`showMatchedFeatures`	Display corresponding feature points

Konvertierung

`rotmat2vec3d`	Convert 3-D rotation matrix to rotation vector (Seit R2022b)
`rotvec2mat3d`	Convert 3-D rotation vector to rotation matrix (Seit R2022b)
`quaternion`	Create quaternion array (Seit R2020a)

Themen

Grundlagen

Koordinatensysteme
Angabe von Pixel-Indizes, räumlichen Koordinaten und 3D-Koordinatensystemen
Point Feature Types
Choose functions that return and accept points objects for several types of features.
Local Feature Detection and Extraction
Learn the benefits and applications of local feature detection and extraction.
What is Structure from Motion?
Estimate three-dimensional structures from two-dimensional image sequences.

Apps für die Kamerakalibrierung

Using the Single Camera Calibrator App
Prepare camera calibration images and estimate camera intrinsic parameters.
Using the Stereo Camera Calibrator App
Calibrate a stereo camera, which you can then use to recover depth from images.

Enthaltene Beispiele

Structure from Motion from Multiple Views

Reconstruct a 3-D scene from a sequence of 2-D views taken with a camera calibrated.

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Structure from Motion from Two Views

Estimate 3-D structure of a scene from a set of 2-D images.

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Monocular Visual Odometry

Determine location and orientation of a camera by analyzing a sequence of images.

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