Structure from motion in panoramic video

Research Project Goal

We have a large corpus of panoramic video that is geo-referenced. The video has been collected by a car instrumented with high-recision GPS and inertial sensors. The goal of this project is to recover the 3-D structure of the environment from this video. This is simpler than the general structure from motion problem in that the camera motion is known. However, difficulties arise due to occlusion, and the presence of moving objects.

Research Project Scope

Given a stream of geo-referenced panoramic images, construct a 3-D model. In an initial version, we seek to determine the 3-d position of feature points.

Data

Video stream of the reprojected images acquired by a panoramic camera is here - download by clicking on the link.
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Tasks

• Extract feature points
• Implement least squares solution to 3D reconstruction followed by a windowed bundle adjustment over multiple frames. Integrate camera model of panoramic camera with calibration parameters provided by instructors.
• Implement guided feature matching to obtain dense set of correspondences.

Research Project Status

NA

Point of Contact

Jana Kosecka

Midterm Report

not yet submitted

Final Report

not yet submitted