Patent ID: 9686527
Date: 2017-06-20
CPC Classifications: G06T,H04N

Claim:
1. A non-feature extraction dense SFM three-dimensional reconstruction method, comprising the following steps: inputting n images about a certain scenario, n≧2; establishing a world coordinate system consistent with a certain camera coordinate system, it is supposed that said world coordinate system is consistent with a coordinate system of a first camera, an origin, an x axis and a y axis of said world coordinate system being coincident with a camera center of said first camera, an x axis and a y axis of an imaging plane of said first camera, and its z axis being directed perpendicularly to said imaging plane of said first camera; taking a depth of a three-dimensional scenario and a camera projection matrix as variables, said depth of said three-dimensional scenario referring to a depth q of a three-dimensional space point to which a pixel point of said first image corresponds; and said camera projection matrix referring to 3×4 matrix P i of the other (n−1) images, 2≦i≦n; constructing an objective function similar to optical flow estimation, said objective function being a variational objective function on a continuous domain or an objective function in a discrete form thereof; designing an iterative algorithm on a continuous domain or discrete domain by employing a from coarse to fine pyramid method to optimize said objective function, so as to output a depth representing three-dimensional information of said scenario and a camera projection matrix representing relative location and pose information of said camera; and realizing dense projective, similarity or Euclidean reconstruction according to said depth representing said three-dimensional information of said scenario.