Photometric Bundle Adjustment for Dense Multi-View 3D Modeling

Amaël Delaunoy (1) , Marc Pollefeys (1)

1 ETH Zürich - Eidgenössische Technische Hochschule - Swiss Federal Institute of Technology [Zürich]

Motivated by a Bayesian vision of the 3D multi-view reconstruction from images problem, we propose a dense 3D reconstruction technique that jointly refines the shape and the camera parameters of a scene by minimizing the photometric reprojection error between a generated model and the observed images, hence considering all pixels in the original images. The minimization is performed using a gradient descent scheme coherent with the shape representation (here a triangular mesh), where we derive evolution equations in order to optimize both the shape and the camera parameters. This can be used at a last refinement step in 3D reconstruction pipelines and helps improving the 3D reconstruction's quality by estimating the 3D shape and camera calibration more accurately. Examples are shown for multi-view stereo where the texture is also jointly optimized and improved, but could be used for any generative approaches dealing with multi-view reconstruction settings (ie. depth map fusion, multi-view photometric stereo).

Mots clés: 3D reconstruction; Multi-view Stereo; Bundle Adjustment; 3D surface

Domaines: Vision par ordinateur et reconnaissance de formes [cs.CV]; Traitement des images [eess.IV]

Amaël Delaunoy, Marc Pollefeys. Photometric Bundle Adjustment for Dense Multi-View 3D Modeling. 2014. ⟨hal-00985811⟩