Recovery of camera poses and 3D reconstruction based on image sequence

A novel algorithm for recovery of camera poses and 3D reconstruction of reference points is presented and realized. A good initial value is estimated for the projective reconstruction by the matrix factorization method using coded targets as original input. The coordinates of the non-coded targets in 3D projective space is then recovered using the stereo triangulation. The coordinates of the non-coded targets and camera motion matrices are further optimized by using the bundle adjustment. Finally, the projective reconstruction is upgraded into Euclidean one by making use of the homography. Compared to the existing method, the reprojection error is greatly reduced by the proposed one. The proposed method has been applied in multi-view point cloud registration.