3D-Reconstruction from Motion

• Captured images of the same scene from the same camera in different positions.
• Extraction of Keypoints using the SURF feature detector.
• Estimation of Fundamental and Essential Matrix.
• Find Rotation and Translation matrix from the decomposition of the Essential Matrix.
• Find 3D point cloud using the Linear Triangulation method.
• Display the 3D points in the world frame using (PCL) Point Cloud Library.

Youtube link: https://www.youtube.com/watch?v=YmOfUyeRtk8&t=1s

Build

./build.sh

Run

./StructureFromMotion

(Give the number of corresponding points: 100)

Visualize Point Cloud using PCL

pcl_viewer eg.pcd