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The paper presents a system for automatic, geo-registered, real-time 3D reconstruction from video of urban scenes. The system collects video streams, as well as GPS and inertia measurements in order to place the reconstructed models in geo-registered coordinates. It is designed using current state of the art real-time modules for all processing steps. It(More)
We present an interactive system for generating photorealistic, textured, piecewise-planar 3D models of architectural structures and urban scenes from unordered sets of photographs. To reconstruct 3D geometry in our system, the user draws outlines overlaid on 2D photographs. The 3D structure is then automatically computed by combining the 2D interaction(More)
We present a novel multi-view stereo method designed for image-based rendering that generates piecewise planar depth maps from an unordered collection of photographs. First a discrete set of 3D plane candidates are computed based on a sparse point cloud of the scene (recovered by structure from motion) and sparse 3D line segments reconstructed from multiple(More)
This paper presents a method for joint stereo matching and object segmentation. In our approach a 3D scene is represented as a collection of visually distinct and spatially coherent objects. Each object is characterized by three different aspects: a color model, a 3D plane that approximates the object's disparity distribution, and a novel 3D connec-tivity(More)
We present a new structure from motion (Sfm) technique based on point and vanishing point (VP) matches in images. First, all global camera rotations are computed from VP matches as well as relative rotation estimates obtained from pairwise image matches. A new multi-staged linear technique is then used to estimate all camera translations and 3D points(More)
This paper describes novel implementations of the KLT feature tracking and SIFT feature extraction algorithms that run on the graphics processing unit (GPU) and is suitable for video analysis in real-time vision systems. While significant acceleration over standard CPU implementations is obtained by exploiting parallelism provided by modern programmable(More)
Most existing structure from motion (SFM) approaches for unordered images cannot handle multiple instances of the same structure in the scene. When image pairs containing different instances are matched based on visual similarity , the pairwise geometric relations as well as the correspondences inferred from such pairs are erroneous, which can lead to(More)
In this paper we present an automatic method for calibrating a network of cameras that works by analyzing only the motion of silhouettes in the multiple video streams. This is particularly useful for automatic reconstruction of a dynamic event using a camera network in a situation where precalibration of the cameras is impractical or even impossible. The(More)
This paper describes a novel approach for reconstructing a closed continuous surface of an object from multiple calibrated color images and silhouettes. Any accurate reconstruction must satisfy (1) photo-consistency and (2) silhouette consistency constraints. Most existing techniques treat these cues identically in optimization frameworks where silhouette(More)