Real-Time 3D Reconstruction from Video

Fast Robust Large-scale Mapping from Video and Internet Photo Collections
Jan-Michael Frahm, Marc Pollefeys, Svetlana Lazebnik, Christopher Zach, David Gallup, Brian Clipp, Rahul Raguram, Changchang Wu, Tim Johnson.
Special issue: “100 years of ISPRS”, ISPRS Journal of Photogrammetry and Remote Sensing, 2010.
[paper (pdf)]

At UNC, the 3D vision group has developed a real-time system, called UrbanScape, for performing large-scale 3D reconstruction from video. The system achieves high computational performance through algorithmic optimizations, coupled with parallelization and execution on commodity graphics hardware. My contributions to this system include vision-based pose estimation, self-calibration and real-time robust estimation.