Dense 3-D Reconstruction of an Outdoor Scene by Hundreds-Baseline Stereo Using a Hand-Held Video Camera

Three-dimensional (3-D) models of outdoor scenes are widely used for object recognition, navigation, mixed reality, and so on. Because such models are often made manually with high costs, automatic 3-D reconstruction has been widely investigated. In related work, a dense 3-D model is generated by using a stereo method. However, such approaches cannot use several hundreds images together for dense depth estimation because it is difficult to accurately calibrate a large number of cameras. In this paper, we propose a dense 3-D reconstruction method that first estimates extrinsic camera parameters of a hand-held video camera, and then reconstructs a dense 3-D model of a scene. In the first process, extrinsic camera parameters are estimated by tracking a small number of predefined markers of known 3D positions and natural features automatically. Then, several hundreds dense depth maps obtained by multi-baseline stereo are combined together in a voxel space. So, we can acquire a dense 3-D m...

• Type: Journal
• Year: 2002
• Where: IJCV
• Authors: Tomokazu Sato, Masayuki Kanbara, Naokazu Yokoya, Haruo Takemura
• Keywords: Camera, Dense 3-D Model, Extrinsic Camera Parameters, IJCV 2002