公开(公告)号：US08913821B1

公开(公告)日：2014-12-16

申请号：US13626453

申请日：2012-09-25

Applicant: Google Inc.

Inventor： Sameer Agarwal ,  Avanish M. Kushal

IPC: G06K9/00 ,  G06K9/32

CPC classification number: G06T7/55 ,  G06T7/73 ,  G06T2207/30244

Abstract: A three-dimensional model of a scene is reconstructed from images of the scene. The three-dimensional model comprises parameters describing points of the scene and cameras that captured the scene. The parameters are iteratively modified by adding a correction to the parameters in each iteration. A preconditioner matrix is determined for solving the linear system of equations. To determine the preconditioner matrix, cameras that observed the scene are clustered, each cluster including cameras that observed a portion of the scene. The preconditioner matrix is determined by selectively eliminating terms of the linear system of equations that correspond to interactions across clusters of cameras. The linear system of equations is preconditioned using the preconditioner matrix. The preconditioned linear system of equations is solved to obtain the corrections to the parameters.

Abstract translation: 从场景的图像重建场景的三维模型。 三维模型包括描述场景的点和捕获场景的摄像机的参数。 通过在每个迭代中对参数添加校正来迭代地修改参数。 确定用于求解线性方程组的预处理器矩阵。 为了确定预处理器矩阵，观察场景的摄像机是聚类的，每个群集包括观察场景的一部分的摄像机。 预处理器矩阵通过选择性地消除对应于跨相机集群的交互的线性方程组的项来确定。 使用预处理器矩阵对线性方程组进行预处理。 解决了预处理的线性方程组，以获得对参数的校正。