Structure acquise à partir du mouvement

Reconstruction 3D à partir de plusieurs vues

La structure acquise à partir du mouvement (SfM) est le processus consistant à estimer la structure 3D d’une scène à partir d’un jeu d’images 2D. Pour plus de précisions, veuillez consulter Implement Visual SLAM in MATLAB.

Applications

Camera Calibrator	Estimate geometric parameters of a single camera
Stereo Camera Calibrator	Estimate geometric parameters of a stereo camera

Fonctions

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Détecter des caractéristiques

`detectBRISKFeatures`	Detect BRISK features
`detectFASTFeatures`	Detect corners using FAST algorithm
`detectHarrisFeatures`	Detect corners using Harris–Stephens algorithm
`detectMinEigenFeatures`	Detect corners using minimum eigenvalue algorithm
`detectMSERFeatures`	Detect MSER features
`detectSIFTFeatures`	Detect scale invariant feature transform (SIFT) features (depuis R2021b)
`detectSURFFeatures`	Detect SURF features

Faire correspondre des caractéristiques

`extractFeatures`	Extract interest point descriptors
`matchFeatures`	Find matching features
`matchFeaturesInRadius`	Find matching features within specified radius (depuis R2021a)
`vision.PointTracker`	Track points in video using Kanade-Lucas-Tomasi (KLT) algorithm

Estimer la structure 3D

Stocker les données d’image et de caméra

`imageviewset`	Manage data for structure-from-motion, visual odometry, and visual SLAM (depuis R2020a)
`worldpointset`	Manage 3-D to 2-D point correspondences (depuis R2020b)
`cameraIntrinsics`	Object for storing intrinsic camera parameters
`rigidtform3d`	3-D rigid geometric transformation (depuis R2022b)
`affinetform3d`	3-D affine geometric transformation (depuis R2022b)

Estimer les poses des caméras

`estimateEssentialMatrix`	Estimate essential matrix from corresponding points in a pair of images
`estimateFundamentalMatrix`	Estimate fundamental matrix from corresponding points in stereo images
`estworldpose`	Estimate camera pose from 3-D to 2-D point correspondences (depuis R2022b)
`estrelpose`	Calculate relative rotation and translation between camera poses (depuis R2022b)

Trianguler les points des images

`pointTrack`	Object for storing matching points from multiple views
`findTracks`	Find matched points across multiple views (depuis R2020a)
`triangulate`	3-D locations of undistorted matching points in stereo images
`triangulateMultiview`	3-D locations of world points matched across multiple images

Optimiser les poses des caméras et les points 3D

`bundleAdjustment`	Adjust collection of 3-D points and camera poses
`bundleAdjustmentMotion`	Adjust collection of 3-D points and camera poses using motion-only bundle adjustment (depuis R2020a)
`bundleAdjustmentStructure`	Refine 3-D points using structure-only bundle adjustment (depuis R2020a)

Visualiser les résultats

`stereoAnaglyph`	Create red-cyan anaglyph from stereo pair of images
`pcshow`	Plot 3-D point cloud
`plotCamera`	Plot a camera in 3-D coordinates
`showMatchedFeatures`	Display corresponding feature points

Conversions

`rotmat2vec3d`	Convert 3-D rotation matrix to rotation vector (depuis R2022b)
`rotvec2mat3d`	Convert 3-D rotation vector to rotation matrix (depuis R2022b)
`quaternion`	Create quaternion array (depuis R2020a)

Rubriques

Principes de base

Systèmes de coordonnées
Définir les indices des pixels, les coordonnées spatiales, et les systèmes de coordonnées 3D
Point Feature Types
Choose functions that return and accept points objects for several types of features.
Local Feature Detection and Extraction
Learn the benefits and applications of local feature detection and extraction.
What is Structure from Motion?
Estimate three-dimensional structures from two-dimensional image sequences.

Applications de calibrage de caméra

Using the Single Camera Calibrator App
Prepare camera calibration images and estimate camera intrinsic parameters.
Using the Stereo Camera Calibrator App
Calibrate a stereo camera, which you can then use to recover depth from images.

Exemples présentés

Structure from Motion from Multiple Views

Reconstruct a 3-D scene from a sequence of 2-D views taken with a camera calibrated.

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Structure from Motion from Two Views

Estimate 3-D structure of a scene from a set of 2-D images.

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Monocular Visual Odometry

Determine location and orientation of a camera by analyzing a sequence of images.

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