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26 June 2017 Accuracy evaluation of structure from motion surface 3D reconstruction
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Structure from motion approach became a powerful mean for scene 3D reconstruction using only a sequence of images from moving camera as initial data. Such a technique has a significant potential for unmanned aerial or unmanned ground vehicles for navigation in unknown environments. Different techniques are used for estimation the 3D structure of a scene such as optical flow approach, feature detection and matching in the set of images, features tracking through a sequence of images. Robustness and accuracy of scene 3D coordinates measurements are the important characteristics of structure from motion algorithms which has to provide the reliability of the navigation. The technique for scene 3D reconstruction using unmanned aerial vehicle imagery is developed based on preliminary features detection and matching in a set of stereo pairs with appropriate basis which allows reaching reasonable accuracy of 3D measurements. The results of accuracy evaluation for two variants of surface 3D reconstruction from image sequence are presented and discussed: for the case of un-calibrated images and for images with known interior orientation. The ways for improving the accuracy of the developed 3D reconstruction technique are discussed.
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Vladimir Knyaz and Sergey Zheltov "Accuracy evaluation of structure from motion surface 3D reconstruction", Proc. SPIE 10332, Videometrics, Range Imaging, and Applications XIV, 103320P (26 June 2017);

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