Struttura dal movimento

Ricostruzione tridimensionale da più viste

La struttura dal movimento (SfM) è il processo di stima della struttura tridimensionale di una scena a partire da un insieme di immagini bidimensionali. Per ulteriori dettagli, vedere Implement Visual SLAM in MATLAB.

App

Camera Calibrator	Estimate geometric parameters of a single camera
Stereo Camera Calibrator	Estimate geometric parameters of a stereo camera

Funzioni

espandi tutto

Rilevamento delle feature

`detectBRISKFeatures`	Detect BRISK features
`detectFASTFeatures`	Detect corners using FAST algorithm
`detectHarrisFeatures`	Detect corners using Harris–Stephens algorithm
`detectMinEigenFeatures`	Detect corners using minimum eigenvalue algorithm
`detectMSERFeatures`	Detect MSER features
`detectSIFTFeatures`	Detect scale invariant feature transform (SIFT) features (Da R2021b)
`detectSURFFeatures`	Detect SURF features

Corrispondenza delle feature

`extractFeatures`	Extract interest point descriptors
`matchFeatures`	Find matching features
`matchFeaturesInRadius`	Find matching features within specified radius (Da R2021a)
`vision.PointTracker`	Track points in video using Kanade-Lucas-Tomasi (KLT) algorithm

Stima della struttura tridimensionale

Archiviazione dei dati delle immagini e della fotocamera

`imageviewset`	Manage data for structure-from-motion, visual odometry, and visual SLAM (Da R2020a)
`worldpointset`	Manage 3-D to 2-D point correspondences (Da R2020b)
`cameraIntrinsics`	Object for storing intrinsic camera parameters
`rigidtform3d`	3-D rigid geometric transformation (Da R2022b)
`affinetform3d`	3-D affine geometric transformation (Da R2022b)

Stima delle pose della fotocamera

`estimateEssentialMatrix`	Estimate essential matrix from corresponding points in a pair of images
`estimateFundamentalMatrix`	Estimate fundamental matrix from corresponding points in stereo images
`estworldpose`	Estimate camera pose from 3-D to 2-D point correspondences (Da R2022b)
`estrelpose`	Calculate relative rotation and translation between camera poses (Da R2022b)

Triangolazione dei punti dell'immagine

`pointTrack`	Object for storing matching points from multiple views
`findTracks`	Find matched points across multiple views (Da R2020a)
`triangulate`	3-D locations of undistorted matching points in stereo images
`triangulateMultiview`	3-D locations of world points matched across multiple images

Ottimizzazione delle pose della fotocamera e dei punti tridimensionali

`bundleAdjustment`	Adjust collection of 3-D points and camera poses
`bundleAdjustmentMotion`	Adjust collection of 3-D points and camera poses using motion-only bundle adjustment (Da R2020a)
`bundleAdjustmentStructure`	Refine 3-D points using structure-only bundle adjustment (Da R2020a)

Visualizzazione dei risultati

`stereoAnaglyph`	Create red-cyan anaglyph from stereo pair of images
`pcshow`	Plot 3-D point cloud
`plotCamera`	Plot a camera in 3-D coordinates
`showMatchedFeatures`	Display corresponding feature points

Conversioni

`rotmat2vec3d`	Convert 3-D rotation matrix to rotation vector (Da R2022b)
`rotvec2mat3d`	Convert 3-D rotation vector to rotation matrix (Da R2022b)
`quaternion`	Create quaternion array (Da R2020a)

Argomenti

Nozioni di base

Sistemi di coordinate
Specificare gli indici dei pixel, le coordinate spaziali e i sistemi di coordinate in 3D
Point Feature Types
Choose functions that return and accept points objects for several types of features.
Local Feature Detection and Extraction
Learn the benefits and applications of local feature detection and extraction.
What is Structure from Motion?
Estimate three-dimensional structures from two-dimensional image sequences.

Applicazioni per la calibrazione della fotocamera

Using the Single Camera Calibrator App
Prepare camera calibration images and estimate camera intrinsic parameters.
Using the Stereo Camera Calibrator App
Calibrate a stereo camera, which you can then use to recover depth from images.

Esempi in primo piano

Structure from Motion from Multiple Views

Reconstruct a 3-D scene from a sequence of 2-D views taken with a camera calibrated.

Apri live script

Structure from Motion from Two Views

Estimate 3-D structure of a scene from a set of 2-D images.

Apri live script

Monocular Visual Odometry

Determine location and orientation of a camera by analyzing a sequence of images.

Apri live script