Estimated camera trajectory-based integration among local 3D models sequentially generated from image sequences by SfM-MVS

松本 拓  ; 羽成 敏秀 ; 川端 邦明   ; 中村 啓太*; 八代 大*

Matsumoto, Taku; Hanari, Toshihide; Kawabata, Kuniaki; Nakamura, Keita*; Yashiro, Hiroshi*

This paper describes a three-dimensional (3D) modeling method for sequentially and spatially understanding situations in unknown environments from an image sequence acquired from a camera. The proposed method chronologically divides the image sequence into sub-image sequences by the number of images, generates local 3D models from the sub-image sequences by the Structure from Motion and Multi-View Stereo (SfM-MVS), and integrates the models. Images in each sub-image sequence partially overlap with previous and subsequent sub-image sequences. The local 3D models are integrated into a 3D model using transformation parameters computed from a camera trajectory estimated by the SfM-MVS. In our experiment, we quantitatively compared the quality of integrated models with a 3D model generated from all images in a batch and the computational time to obtain these models using three real data sets acquired from a camera. Consequently, the proposed method can generate a quality integrated model that is compared with a 3D model using all images in a batch by the SfM-MVS and reduce the computational time.