Automatic system for sequential reconstruction from image sequences acquired from a camera by SfM-MVS

松本 拓; 羽成 敏秀; 川端 邦明; 八代 大*; 中村 啓太*

Proceedings of 2023 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2023) (Internet), 7 Pages, 2023/12

https://doi.org/10.1109/ROBIO58561.2023.10354841

This paper describes an automatic system that performs three-dimensional (3D) modeling from image sequences acquired from a camera during a survey to understand the state of the environment sequentially. The developed system sequentially generates local 3D models from image sequences acquired from a camera by the Structure from Motion and Multi-View Stereo (SfM-MVS) and integrates the models. This system, consisting of a camera, a computer, and storage, handles streaming, image acquisition, 3D modeling, and integration processes. The system is designed to perform each process in parallel while performing image acquisition. Local 3D models are integrated based on the similarity of camera trajectories, which correspond to overlapped images in each sequence, estimated from SfM. Our experiments verified the operation of the developed system from the image acquisition to the integration of local 3D models in two cases. Consequently, we confirmed that an integrated model could be generated by automatically executing each process in the system through experiments.