Modélisation 3D à partir d'images en utilisant plusieurs cartes de profondeur

Pau Gargallo 1 Peter Sturm 1
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : This paper addresses the problem of reconstructing the geometry and albedo of a Lambertian scene, given some fully calibrated images acquired with wide baselines. In order to completely model the input data, we propose to represent the scene as a set of colored depth maps, one per input image. We formulate the problem as a Bayesian MAP problem which leads to an energy minimization method. Hidden visibility variables are used to deal with occlusions, reflections and outliers. The main contributions of this work are: a prior for the visibility variables that treats the geometric occlusion; and a prior for the multiple depth maps model that smoothes and merges the depth maps while enabling discontinuities. Real world examples showing the efficiency and limitations of the approach are presented.
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Pau Gargallo, Peter Sturm. Modélisation 3D à partir d'images en utilisant plusieurs cartes de profondeur. 9èmes Journées ORASIS, May 2005, Fournol, France. ⟨inria-00524400⟩

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