3D RECONSTRUCTION

FROM 2D IMAGES
JARGALSAIKHAN IVEEL (09VL10F)




Table of contents
Introduction
Objective
Camera model
Epipolar geometry Epipolar geometry
Implementation
Result
Conclusion




Introduction
Stereo vision
Based on human vision system by using two or more 2D
views
Attempts to obtain depth information of 2D scene
objects. objects.
Usage
Tracking moving objects in 3D space
Gather distance information
Construct a 3D spatial model of a scene etc.




Objective
To implement a reconstruction algorithm for a
stereo-vision system.
Designing hardware implementation for a such Designing hardware implementation for a such
system based on the FPGA.




Camera model
Pin-hole model
n Where
n Cx, Cy alignment to the optical axis
n Fx, Fy - focal length




Camera model
Parameters
Instrinsics
Extrinsics




Camere model
Extrinsics parameter Pc = R(Pw T)
R - Rotational matrix
T Translation V




Camera model
Rotating points by (in this case, around the Z-axis) is the same as counterrotating the
coordinate axis by ; by simple trigonometry, we can see how rotation changes the coordinates
of a point




Chessboard Calibration
cvFindChessboardCorners()
Finds a position of the corners of the chessboard in a
given image




cvDrawChessboardCorners()




Stereo imaging pipeline
Undistortion
Mathematically remove radial
and tangential lens distortion
Rectification
Images are row-aligned and
rectified.
Correspondence.
Disparity map- differences
coordinates of the same
features.
Triangulation.
Reprojection, and the output is a
depth map.




Essential & Fundamental Matrices
Essential Matrice
E contains information about the translation and rotation which relate
physical space of two camera
Fundamental Matrice
F contains information about the translation and rotation which relate pixel F contains information about the translation and rotation which relate pixel
coordinates of two camera ( essential matrices + intrinsics parameters of both camera)




To Compute F-Matrice
cvFindFundamentalMat
Calculates the fundamental matrix from the
corresponding points in two images




Epipolar lines
Given a feature in one image, its matching view in the other image
must lie along the corresponding epipolar line.




To Compute Epipolar lines
cvComputeCorrespondEpilines()
For points in one image of a stereo pair, computes the
corresponding epilines in the other image.




Rectification
Stereo image transformations
in corresponding epipolar lines
in all images become collinear in all images become collinear
with each other and with the
image scanning lines.




Rectification
Bouguets algorithm for stereo rectification
Arguments are the rotation matrix and translation (R,
T) between the stereo images
Minimizes the resulting reprojection distortions
Maximizins common viewing area




cvStereoRectify()
Computes rectification transforms for each head of
a calibrated stereo camera
Outputs are Rotation matrice & Translation vector for
both stereo cameras.




Stereo Correspondence
Stereo correspondence
matching a 3D point in the two different camera views
can be computed only over the visual areas in which the
views of the two cameras overlap.
cvFindStereoCorrespondenceBM()
Implemented as a fast and effective block-matching stereo
algorithm in OpenCV
Algorithm Stages
n Prefiltering to normalize image brightness a 1. nd enhance
texture.
n Correspondence search along horizontal epipolar lines using an
SAD window.
n Postfiltering to eliminate bad correspondence matches.




cvFindStereoCorrespondenceBM()




Implementation in OpenCV
Simplified stages of the code
Calibrate the stereo web camera using Chessboard
Pattern technique
Rectification of the stereo pair images based on the
Bouguets algorithm.
Finding the feature correspondence on the rectified
images and calculating the output disparity image.




Result : Calibration




Result : Rectification




Result : Disparity Map




Conclusion
Camera model and Epipolar geometry
Stereo vision and its implementation pipeline
Implementation based on the OpenCV Library