Abstract
Structure from Motion (SfM) is a pipeline that allows three-dimensional reconstruction starting from a collection of images. A typical SfM pipeline comprises different processing steps each of which tackles a different problem in the reconstruction pipeline. Each step can exploit different algorithms to solve the problem at hand and thus many different SfM pipelines can be built. How to choose the SfM pipeline best suited for a given task is an important question. In this paper we report a comparison of different state-of-the-art SfM pipelines in terms of their ability to reconstruct different scenes. We also propose an evaluation procedure that stresses the SfM pipelines using real dataset acquired with high-end devices as well as realistic synthetic dataset. To this end, we created a plug-in module for the Blender software to support the creation of synthetic datasets and the evaluation of the SfM pipeline. The use of synthetic data allows us to easily have arbitrarily large and diverse datasets with, in theory, infinitely precise ground truth. Our evaluation procedure considers both the reconstruction errors as well as the estimation errors of the camera poses used in the reconstruction.
Highlights
Three-dimensional reconstruction is the process that allows to capture the geometry and appearance of an object or an entire scene
We propose an evaluation procedure that stresses the Structure from Motion (SfM) pipelines using real dataset acquired with high-end devices as well as realistic synthetic dataset
A variety of techniques and algorithms for 3D reconstruction has been developed to meet different needs in various fields of application ranging from active methods that require the use of special equipment to capture geometry information to passive methods that are based on optical imaging techniques only
Summary
Three-dimensional reconstruction is the process that allows to capture the geometry and appearance of an object or an entire scene. A variety of techniques and algorithms for 3D reconstruction has been developed to meet different needs in various fields of application ranging from active methods that require the use of special equipment to capture geometry information (i.e., laser scanners, structured lights, microwaves, ultrasound, etc...) to passive methods that are based on optical imaging techniques only. The latter techniques do not require special devices or equipment and are applicable in different contexts. In Appendix A we provide some guidelines about how to best capture images to be used in a reconstruction pipeline
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