Overview of Structure from Motion

Abstract

In this paper is given an overview of tools and techniques for obtain information about the geometry of 3D scenes from 2D images. The generating three-dimensional structure from a series of 2D images or video of scenes is known as Structure from Motion (SfM). A central tenet of structure from motion is that, given the position of a feature in one image, it is possible to find the corresponding position of the same feature in successive images. We described methods for the simultaneous recovery of 3D points and camera projection matrices using corresponding image points in multiple views. Structure from Motion (SfM) is a fascinating field within computer vision that seeks to reconstruct a three-dimensional structure of the environment from a sequence of two-dimensional images. At the heart of SfM lies a set of sophisticated algorithms that enable the extraction of spatial information from a series of images. Two public repositories that may be of use are Open SfM and Colmap.