有效的相机运动和3D恢复使用惯性传感器

M. Labrie, P. Hébert
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引用次数: 17

摘要

本文提出了一种结合惯性传感器的相机三维重建系统。该系统主要利用惯性传感器获得的定位信息来加速和改善宽基线图像之间的匹配过程。该方向进一步有助于线性方程系统的一组特征点的增量三维重建。处理可以在线执行,同时使用三个图像相互重叠的连续组。应用经典或增量束调整来提高模型的质量。测试验证已执行对象和相机为中心的序列。
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Efficient camera motion and 3D recovery using an inertial sensor
This paper presents a system for 3D reconstruction using a camera combined with an inertial sensor. The system mainly exploits the orientation obtained from the inertial sensor in order to accelerate and improve the matching process between wide baseline images. The orientation further contributes to incremental 3D reconstruction of a set of feature points from linear equation systems. The processing can be performed online while using consecutive groups of three images overlapping each other. Classic or incremental bundle adjustment is applied to improve the quality of the model. Test validation has been performed on object and camera centric sequences.
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