Dense reconstruction by stereo-motion under perspective camera model

This paper presents a new stereo-motion approach for 3D scene reconstruction in dense and accurate form, that allows the cameras to be described by the full perspective model. Given a short and arbitrary motion of a stereo rig of camera, the projective depth of every image point can be recovered from the rank-four property of a matrix that comprises the image positions of the scene, and the associated 3D position can thereby be determined accurately. Compared to earlier methods, the approach allows the use of the full perspective model to describe the cameras, and thus can attain a higher accuracy. In addition, the projective depths are recovered without the need of having initial guess of the depth map or going through iterations or approximation. The recovery process demands only a few stereo correspondences over the entire scene to start with, and points that are occluded in some of the views can also be reconstructed. Experiments on real image sequences are shown to illustrate the effectiveness of the approach.