Toward Real-Time Dense 3d Reconstruction using Stereo Vision

Jim Braux-Zin
School of Electrical Engineering, Royal Institute of Technology
Royal Institute of Technology, 2011


   title={Toward real-time dense 3d reconstruction using stereo vision},

   author={Braux-Zin, J.},



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State of the art Structure from Motion algorithms can produce a real-time sparse 3d map of the environment, in a fast, robust and efficient way. However, dense 3d maps would be very useful for accurate Augmented Reality with occlusion management. This project focus on generating accurate dense depth-maps in near real-time from the data provided by a Structure from Motion algorithm. The presented algorithm uses a TVL1 optimization scheme with a novel initialization from matched 2d keypoints. The generated depth-maps are good candidates for on-line 3d model generation and update.
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