Monocular panoramic 3D reconstruction based on a particle filter

Frank Pagel

doi:10.1117/12.850697

7 May 2010 Monocular panoramic 3D reconstruction based on a particle filter

Frank Pagel

Proceedings Volume 7692, Unmanned Systems Technology XII; 76921S (2010) https://doi.org/10.1117/12.850697
Event: SPIE Defense, Security, and Sensing, 2010, Orlando, Florida, United States

Abstract

This paper adresses the issue of generating a panoramic view and a panoramic depth maps using only a single camera. The proposed approach first estimates the egomotion of the camera. Based on this information, a particle filter approximates the 3D structure of the scene. Hence, 3D scene points are modeled probabilistically. These points are accumulated in a cylindric coordinate system. The probabilistic representation of 3D points is used to handle the problem of visualizing occluding and occluded scene points in a noisy environment to get a stable data visualization. This approach can be easily extended to calibrated multi-camera applications (even with non-overlapping field of views).

Citation Download Citation

Frank Pagel "Monocular panoramic 3D reconstruction based on a particle filter", Proc. SPIE 7692, Unmanned Systems Technology XII, 76921S (7 May 2010); https://doi.org/10.1117/12.850697

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