International Journal of Computer Vision

, Volume 78, Issue 2–3, pp 143–167

Detailed Real-Time Urban 3D Reconstruction from Video

  • M. Pollefeys
  • D. Nistér
  • J.-M. Frahm
  • A. Akbarzadeh
  • P. Mordohai
  • B. Clipp
  • C. Engels
  • D. Gallup
  • S.-J. Kim
  • P. Merrell
  • C. Salmi
  • S. Sinha
  • B. Talton
  • L. Wang
  • Q. Yang
  • H. Stewénius
  • R. Yang
  • G. Welch
  • H. Towles
Article

DOI: 10.1007/s11263-007-0086-4

Cite this article as:
Pollefeys, M., Nistér, D., Frahm, JM. et al. Int J Comput Vis (2008) 78: 143. doi:10.1007/s11263-007-0086-4

Abstract

The paper presents a system for automatic, geo-registered, real-time 3D reconstruction from video of urban scenes. The system collects video streams, as well as GPS and inertia measurements in order to place the reconstructed models in geo-registered coordinates. It is designed using current state of the art real-time modules for all processing steps. It employs commodity graphics hardware and standard CPU’s to achieve real-time performance. We present the main considerations in designing the system and the steps of the processing pipeline. Our system extends existing algorithms to meet the robustness and variability necessary to operate out of the lab. To account for the large dynamic range of outdoor videos the processing pipeline estimates global camera gain changes in the feature tracking stage and efficiently compensates for these in stereo estimation without impacting the real-time performance. The required accuracy for many applications is achieved with a two-step stereo reconstruction process exploiting the redundancy across frames. We show results on real video sequences comprising hundreds of thousands of frames.

Keywords

3D reconstruction Stereo vision Structure from motion Large scale modeling Urban reconstruction Plane sweeping Depth map fusion 

Copyright information

© Springer Science+Business Media, LLC 2007

Authors and Affiliations

  • M. Pollefeys
    • 1
  • D. Nistér
    • 2
  • J.-M. Frahm
    • 1
  • A. Akbarzadeh
    • 2
  • P. Mordohai
    • 1
  • B. Clipp
    • 1
  • C. Engels
    • 2
  • D. Gallup
    • 1
  • S.-J. Kim
    • 1
  • P. Merrell
    • 1
  • C. Salmi
    • 1
  • S. Sinha
    • 1
  • B. Talton
    • 1
  • L. Wang
    • 2
  • Q. Yang
    • 2
  • H. Stewénius
    • 2
  • R. Yang
    • 2
  • G. Welch
    • 1
  • H. Towles
    • 1
  1. 1.Department of Computer ScienceUniversity of North CarolinaChapel HillUSA
  2. 2.Center for Visualization and Virtual EnvironmentsUniversity of KentuckyLexingtonUSA

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