# Questions tagged [3d-reconstruction]

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16 questions
37 views

### Setting up a Structured Light Stereo system

I am trying to get started with a stereo experiment and wanted to know the mistakes I might have made during the experiment. The goal is to calculate the depth map of an object using one light ...
62 views

### How to tringulate many projections of a point to optimal postion?

Suppose we have many images for the same scene (with known poses already,using for ex: a GPS ), and the same feature appear in more than 2 images . How to use all the available info to compute as ...
40 views

### Any reference for “3D feature matching + ICP”?

One of the simple tricks in getting high performance for a global 3D point cloud registration is combining "3D feature matching + ICP". For example FPFH matching + RANSAC for initial pose estimation ...
27 views

### 3D mapping using only datasets and no hardware

I am planning a project which compares the different techniques of 3D mapping of a setup. I understand that there are many algorithms to accomplish the same, but due to a non-existent hardware budget, ...
92 views

### Monocular SLAM depth reconstruction

I am trying to derive the inverse depth equation used in monocular SLAM algorithms. Specifically the equation 8 of the ORB SLAM paper I am very close, except I do not understand where the (u_j-c) ...
205 views

### Relative scale in SfM

I'm using monocular visual odometry. As in this case absolute scale can't be recovered, we rather compute relative scale for subsequent transformations as in this tutorial To do this, triple matches ...
352 views

### Forward monocular stereo vision (Structure from Motion)

I am looking for a library (or algorithm) that computes 3D scene (point cloud) from 2 consecutive images of a monocular sequence. I mean something like OpenSfM but only for 2 consecutive frames and ...
104 views

### Accuracy of 3D scanners in featureless environments

I am trying to 3D reconstruct a room that has been freshly constructed but the walls have not yet been either plastered or painted/wallpapered. So far I have tried using mapping techniques(like rtab ...
93 views

### Why are two cameras mounted in paralle in stereo application?

For stereo cameras on the market, two cameras are always mounted side by side and with a displacement that is perpendicular to the cameras’ optical axes. I take this setup for granted. One idea came ...
2k views

### Difference between SLAM and “3D reconstruction”?

I'm reading this paper: http://arxiv.org/abs/1310.2053 (The role of RGB-D benchmark datasets: an overview) and see the following words: Thanks to accurate depth data, currently published papers ...
2k views

### Perspective n Point - RPnP algorithm

I need to caculate the pose of a camera using an image of an artificial landmkark. For this porpouse I am trying to use the Perspective n Point approach so I can calculate it using the intrinsic ...
175 views

### How to interpret the result of image rectification?

I've been trying to understand image rectification. Most of the time the result of image rectification is illustrated by the original image (i.e the image before rectification) and the rectified image,...
737 views

### Covariance and optimization

I am trying to build a map containing lamps as landmarks. I drive around with a robot and a monocular camera looking to the ceiling. The first step is detect the edges of each observed rectangular ...
368 views

### Ceiling depth with a monocular camera

Having a camera mounted on my robot and looking upwards, I want to estimate the distance of the ceiling as the robot moves and also the position of landmarks observed on the ceiling (lamps for example)...