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StructureFromMotion

I developed a 3D reconstruction algorithm as part of a computer vision course. The goal was to reconstruct a scene in 3D using two successive images from the KITTI Vision Benchmark. The project was developed on Matlab with the Image Processing Toolbox and Peter Kovesi's toolbox (http://www.peterkovesi.com/matlabfns/index.html).

Algorithm :

  • Interest points detection using the Harris detector on both images
  • Matching by correlation of the detected points
  • Robust estimation of the fundamental matrix
  • Projection matrices reconstruction in the two images
  • Computation of the 3D structure by triangulation

Example of reconstruction

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Images

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