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Real Time 3D Reconstruction from Monocular Video

April

This month has been affected by many holidays and non-lective days so the progress has been distributed accordingly into the other weeks which have less than 5 working days.

1st week

  • Study of Structure from Motion open source solutions (too slow to run in real time)
    • libmv (used by Blender)
    • OpenOF [@wefelscheid2013openof] which uses GPU parallelization
  • Quick Review of Eigen3 linear algebra library to solve optimization problems (used internally by OpenCV)
  • Added OpenGL GLSL implementation for drawing video frames as texture in the background of the 3D viewport
    • Use of Qt 5.2 greatly simplifies the implementation of shader
    • Threaded execution: the tracking and the GUI now runs in separate threads

2nd and 3rd week

  • Study of the Special Orthogonal Group in Lie Algebra for 3x3 rotation matrices
  • Consider the use of Sophus library, a C++ implementation of Lie Groups using Eigen library
  • Implementation of two Essential matrix solving methods:
    • Horn method from [@horn1990recovering]
    • Singular Value Decomposition from [@hartley2003multiple]

4th week

  • Tested different camera setups to improve camera calibration

    • Results shown an acceptable mean reprojection error of 0.5 px
    • The literature suggest an error between 0.2 and 0.5

  • Generation of documentation and progress report using Markdown syntax, GitBook and Pandoc to create this web book

  • Testing GPL-2 version of PTAM implementation (taken from the fork of Benjamin Lefaudeux) described by @klein2007parallel

    • Here are some screenshoots taken from my compilation of the code

ptam01 ptam02 ptam03 ptam04

References