主要内容

运动重建

基于多个视图进行三维重建

运动重建 (SfM) 是基于一组二维图像估计场景的三维结构的过程。有关详细信息,请参阅Implement Visual SLAM in MATLAB

App

相机标定器估计单目相机的几何参数
立体相机标定器估计立体相机的几何参数

函数

全部展开

detectBRISKFeaturesDetect BRISK features
detectFASTFeaturesDetect corners using FAST algorithm
detectHarrisFeatures使用哈里斯-斯蒂芬斯算法检测角点
detectMinEigenFeaturesDetect corners using minimum eigenvalue algorithm
detectMSERFeaturesDetect MSER features
detectSIFTFeaturesDetect scale invariant feature transform (SIFT) features (自 R2021b 起)
detectSURFFeatures检测 SURF 特征
extractFeaturesExtract interest point descriptors
matchFeaturesFind matching features
matchFeaturesInRadiusFind matching features within specified radius (自 R2021a 起)
vision.PointTrackerTrack points in video using Kanade-Lucas-Tomasi (KLT) algorithm

存储图像和相机数据

imageviewsetManage data for structure-from-motion, visual odometry, and visual SLAM
worldpointsetManage 3-D to 2-D point correspondences
cameraIntrinsicsObject for storing intrinsic camera parameters
rigidtform3d3-D rigid geometric transformation (自 R2022b 起)
affinetform3d3-D affine geometric transformation (自 R2022b 起)

估计相机位姿

estimateEssentialMatrixEstimate essential matrix from corresponding points in a pair of images
estimateFundamentalMatrixEstimate fundamental matrix from corresponding points in stereo images
estworldposeEstimate camera pose from 3-D to 2-D point correspondences (自 R2022b 起)
estrelposeCalculate relative rotation and translation between camera poses (自 R2022b 起)

对图像点进行三角剖分

pointTrackObject for storing matching points from multiple views
findTracksFind matched points across multiple views
triangulate3-D locations of undistorted matching points in stereo images
triangulateMultiview3-D locations of world points matched across multiple images

优化相机位姿和三维点

bundleAdjustmentAdjust collection of 3-D points and camera poses
bundleAdjustmentMotionAdjust collection of 3-D points and camera poses using motion-only bundle adjustment
bundleAdjustmentStructureRefine 3-D points using structure-only bundle adjustment
stereoAnaglyphCreate red-cyan anaglyph from stereo pair of images
pcshowPlot 3-D point cloud
plotCameraPlot camera in 3-D coordinates
showMatchedFeaturesDisplay corresponding feature points
rotmat2vec3dConvert 3-D rotation matrix to rotation vector (自 R2022b 起)
rotvec2mat3dConvert 3-D rotation vector to rotation matrix (自 R2022b 起)
quaternionCreate quaternion array (自 R2023b 起)

主题

基础知识

相机标定 App

精选示例