Patent ID: 10163257

Abstract:
The present subject matter discloses a system and a method for constructing a 3D structure. A stream of images having timestamps associated is received at first. A plurality of image sub-groups is created using the stream of images. The plurality of image sub-groups are used for extracting features of the images present in the image sub-groups. The features are used for generating point correspondences between the images. Epipolar geometries for the image sub-groups are calculated for filtering of the point correspondences, and generating filtered point correspondences. Further, 3D points representing one or more 3D point structures are generated using the filtered point correspondences. A registered 3D structure is constructed using the one or more 3D structures upon considering a scale correction and transformation between the one or more 3D structures. Further, the registered 3D structure is dense reconstructed for improving the pixel density of the 3D structure.