Structure-from-motion for enclosed environments
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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.
Please cite this item using this persistent URLhttp://hdl.handle.net/10019.1/1195
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