Project Presentation – Week 6

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Presentation transcript:

Project Presentation – Week 6 Joshua Michalczak For UCF REU in Computer Vision, Summer 2010

Recap – What I’m doing ‘Structure from Motion’ (SfM) Recovery of pixel depth by viewing that point from different locations Typical applications: 3D reconstruction Exploring new uses? Detecting occlusion of environment, etc

Where was I? Feature point detection Week 4 Meeting During CVPR Feature point detection Matching of features across different frames Robust estimation of Fundamental Matrix (F) using RANSAC

The F-Matrix DEMO

Where am I now? Can triangulate to ‘Projective’ accuracy Can “upgrade” the ‘projective’ reconstruction to an ‘affine’ reconstruction

Affine Reconstruction? What we expect: projecting 3D points to image matches original feature point locations (correct for 1st view)

Affine Reconstruction? What’s wrong: Doing the same thing for the 2nd view does not yield correct locations. Incorrect by an affine transformation.

Goal for next week Complete ‘Metric’ reconstruction Port code out of Matlab for real-time demonstration