3-D modeling of an outdoor scene from multiple image sequences by estimating camera motion parameters

  • Authors:

  • Tomokazu Sato;Masayuki Kanbara;Naokazu Yokoya

  • Affiliations:

  • Graduate School of Information Science, Nara Institute of Science and Technology, Ikoma, Nara, Japan;Graduate School of Information Science, Nara Institute of Science and Technology, Ikoma, Nara, Japan;Graduate School of Information Science, Nara Institute of Science and Technology, Ikoma, Nara, Japan

  • Venue:
  • SCIA'03 Proceedings of the 13th Scandinavian conference on Image analysis
  • Year:
  • 2003

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Abstract

Three-dimensional (3-D) models of outdoor scenes can be widely used in a number of fields such as object recognition, navigation, scenic simulation, and mixed reality. Such models are often made manually with high costs, so that automatic 3-D reconstruction has been widely investigated. In related works, a dense 3-D model is generated by using a stereo method. However, such approaches cannot use several hundred images together for dense depth estimation of large constructs and urban environments because it is difficult to accurately calibrate a large number of cameras. This paper proposes a novel dense 3-D reconstruction method that uses multiple image sequences. First, our method estimates extrinsic camera parameters of each image sequence, and then reconstructs a dense 3-D model of a scene using an extended multibaseline stereo and voxel voting techniques.