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Bayesian 3D modeling from images using multiple depth maps

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2 Author(s)
Gargallo, P. ; INRIA, Rhone-Alpes, France ; Sturm, P.

This paper addresses the problem of reconstructing the geometry and color of a Lambertian scene, given some fully calibrated images acquired with wide baselines. In order to completely model the input data, we propose to represent the scene as a set of colored depth maps, one per input image. We formulate the problem as a Bayesian MAP problem which leads to an energy minimization method. Hidden visibility variables are used to deal with occlusion, reflections and outliers. The main contributions of this work are: a prior for the visibility variables that treats the geometric occlusions; and a prior for the multiple depth maps model that smoothes and merges the depth maps while enabling discontinuities. Real world examples showing the efficiency and limitations of the approach are presented.

Published in:

Computer Vision and Pattern Recognition, 2005. CVPR 2005. IEEE Computer Society Conference on  (Volume:2 )

Date of Conference:

20-25 June 2005