SFM(structure from motion 从运动恢复结构)和MVS(multi-view stereo 多视图立体视觉)

计算机视觉——SFM与三位重建 第五章:SFM与三维重建1. 三维重建简述2. 对极几何2.1 对极几何简述2.2 五点共面约束2.3 几个相关概念2.4 对应点的约束3. 两种矩阵3.1 基础矩阵F(对极几何的代数表达式)3.2 本质矩阵E4. 八点算法估计基础矩阵F5. SFM概述6. 实验内容6.1 实验一(画出极点和极线)6.1.1 场景一(左右)6.2.1 场景二(水平)6.3.1 场景三(前后)6.2 实验二(用不同... 阅读详情

1、主要目的:

SFM是可以重建稀疏点云的和相机参数(内外), 主要目的是:estimating the geometry of the scene and camera poses from a set of images. 使用场景最多还是标定相机内外参。

MVS重建的是稠密点云。

输入的数据:SFM是没有标定的图像,而MVS输入的是标定的图像(具有相机参数),

PS:相机参数可以通过SFM标定,所以如果从一组图像中重建三维模型,我们可以首先采用SFM标定相机内外参,然后根据标定结果进行稠密点云重建。

2、为什么SFM无法重建出稠密的点云,但是MVS可以?

SFM中我们用来做重建的点是由特征匹配提供的!这些匹配点天生不密集!MVS则几乎对照片中的每个像素点都进行匹配,几乎重建每一个像素点的三维坐标,这样得到的点的密集程度可以较接近图像为我们展示出的清晰度。

SFM和MVS关系

SFM给MVS算好了输入视角的位姿,内参,稀疏点云以及它们的共视关系,MVS再利用这些信息以及彩色图来估计深度图以及做最后的Fusion,还有点云过滤等等的。SFM是camera tracking, 而MVS是depth map estimation和depth fusion。在实际使用中,一般是SFM进行相机标定,然

SFM综述 https://blog.csdn.net/qq_29462849/article/details/118159269 阅读详情

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