Abstract:
A structure-from-motion implementation for enclosed environments is presented. The various
aspects covered include a discussion on optimised luminance computations—a technique to
compute an optimally weighted luminance that maintains a greatest amount of data fidelity.
Furthermore a visual engine is created that forms the basis of data input for reconstruction
purposes; such an inexpensive solution is found to offer realistic environments along with precise
control of scene and camera elements. A motion estimation system provides tracking information
of scene elements and an unscented Kalman filter is used as depth estimator. The elements
are combined into an accurate reconstructor for enclosed environments.
