Incremental Structure from Motion pipeline
WHAT IT TESTS: 3D reconstruction workflow. OUTLINE: detect and match features, estimate two-view geometry, triangulate, then incrementally add images with PnP and refine via bundle adjustment.
WHAT IT TESTS: end-to-end grasp of classical SfM. ANSWER OUTLINE: inputs are a set of overlapping 2D images. Steps: extract and match features across images, choose an initial pair and estimate relative pose via the essential matrix, triangulate initial 3D points, then incrementally register each new image by PnP using 2D-3D correspondences, triangulate new points, and repeatedly run bundle adjustment to jointly refine poses and points. Outputs are estimated camera poses and a sparse 3D point cloud.
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- #structure-from-motion
- #bundle-adjustment
- #triangulation
- #pnp
- #3d-reconstruction
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