Towards Optimal Point Cloud Processing For 3d Reconstruction PDF Download

This dissertation covers the problem of 3D reconstruction of a scene from a number of images taken from that scene. Although this problem has been previously addressed in the computer vision literature, what differentiates this dissertation research from what has already been done is the computational efficiency aspect of various computer vision modules. The contributions made in this dissertation to the computational efficiency aspect of 3D reconstruction are published or submitted as five papers that appear as five chapters in this dissertation. Each chapter provides an abstract of the contribution made, an introduction and literature review, the methodology developed, the results obtained together with their discussions, and conclusion associated with that contribution. Chapter 1 targets the bundle adjustment module of 3D reconstruction where it is shown how a local bundle adjustment approach improves the computational complexity. In Chapter 2, a two- stage scheme is developed for camera pose estimation. The main advantage of this scheme is that the computation burden caused by the Levenberg-Marquardt optimization is avoided. Chapter 3 targets the frame selection and camera rotation registration aspects of 3D reconstruction. Initially, the translation vector is estimated by using the relative camera pose and 3D correspondences. Then, a rotation registration is considered to generate the camera rotation matrix. The developed approach reduces the re-projection error in each frame at a lower computational complexity compared to the conventional approach. Chapter 4 targets the computational efficiency aspect of the entire 3D reconstruction pipeline by providing a new absolute camera pose recovery approach in a computationally efficient manner. The experimental results show the developed pipeline generates lower re-projection errors and higher frame rates towards 3D reconstruction. Finally, in Chapter 5, the camera pose estimation is applied to the problem of vanishing point detection for camera orientation applications. A fast J-linkage algorithm is developed to perform vanishing point detection. Then, this algorithm is used to recover the camera rotation in a computationally efficient manner. The contributions presented in the chapters offer a computationally efficient framework towards making 3D reconstruction from video sequences feasible on laptop devices.