Incremental translation averaging method, system and device

Abstract

The invention belongs to the technical field of structure recovery from motion in three-dimensional reconstruction, particularly relates to an incremental translation averaging method, system and device, and aims to solve the problems of high complexity, low accuracy and poor robustness of the conventional translation averaging method. The method comprises the following steps of constructing an exopolar geometric diagram; constructing a camera tetrad set, and selecting an initial camera tetrad as an initial seed view based on local optimization; constructing a third vertex set; forming a camera triple, and determining an increment sequence of vertexes by adopting a next optimal view selection strategy based on a weighted support set; performing weighted local optimization / weighted global optimization on the currently estimated absolute position; and carrying out re-translation averaging on all vertexes with estimated absolute positions after global optimization. According to the invention, the complexity of the translation averaging method is reduced, and the accuracy and robustness of absolute position estimation are improved.

Description

technical field [0001] The invention belongs to the technical field of structure recovery from motion in three-dimensional reconstruction, and in particular relates to an incremental translation averaging method, system and equipment. Background technique [0002] Structure from motion is a key step in image-based large-scale scene 3D reconstruction, which has developed rapidly in recent years. Its input is image feature matching, and its output is camera absolute pose and scene structure. According to the different initialization methods of the camera pose, the recovery structure from motion can be roughly divided into two types: incremental and global. The incremental method completes the initialization of camera pose and scene structure through iterative camera pose estimation and scene structure expansion. In the iterative process, in order to cope with the inevitable feature matching external value, this method also introduces random sampling Consistency (random sample...

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Problems solved by technology

[0005] In order to solve the above problems in the prior art, that is, in order to solve the problems of high complexity, low accuracy and poor robustness of the existing translation averaging method, the first aspect of the present invention proposes an incremental translation averaging method method, which is applied to the solution of the absolute position of the camera in the global structure from motion recovery, the method includes:

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