Patent ID: 6061468
Filing Date: 2000-05-09
Classification: G06T

Abstract:
A computerized method for performing a Euclidean reconstruction of an unknown three-dimensional (3-D) structure from a sequence of two-dimensional (2-D) images of the structure, the 3-D structure undergoing closed loop motion relative to the camera, the method comprising the steps of:generating a closed-loop sequence of 2-D images of the unknown 3-D structure with an uncalibrated camera;forming at least one set of consecutive 2-D images in the closed-loop sequence;selecting feature tracking points captured from the unknown 3-D structure in the at least one set of 2-D images and determining a progression of one or more feature tracking points in the images of the at least one set;estimating the relative orientation between the unknown 3-D structure and the camera with the progression of the feature tracking points;fixing a set of parameters while minimizing an objective function to extract a set of first structure and motion parameters of the unknown 3-D structure; andvarying the set of parameters while minimizing the objective function to extract a set of second structure and motion parameters of the unknown 3-D structure until the set of second structure and motion parameters are substantially identical to the set of first structure and motion parameters.