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

`detectBRISKFeatures`	Detect BRISK features
`detectFASTFeatures`	Detect corners using FAST algorithm
`detectHarrisFeatures`	使用哈里斯-斯蒂芬斯算法检测角点
`detectMinEigenFeatures`	Detect corners using minimum eigenvalue algorithm
`detectMSERFeatures`	Detect MSER features
`detectSIFTFeatures`	Detect scale invariant feature transform (SIFT) features (自 R2021b 起)
`detectSURFFeatures`	检测 SURF 特征

`extractFeatures`	Extract interest point descriptors
`matchFeatures`	Find matching features
`matchFeaturesInRadius`	Find matching features within specified radius (自 R2021a 起)
`vision.PointTracker`	Track points in video using Kanade-Lucas-Tomasi (KLT) algorithm

`imageviewset`	Manage data for structure-from-motion, visual odometry, and visual SLAM
`worldpointset`	Manage 3-D to 2-D point correspondences
`cameraIntrinsics`	Object for storing intrinsic camera parameters
`rigidtform3d`	3-D rigid geometric transformation (自 R2022b 起)
`affinetform3d`	3-D affine geometric transformation (自 R2022b 起)

`estimateEssentialMatrix`	Estimate essential matrix from corresponding points in a pair of images
`estimateFundamentalMatrix`	Estimate fundamental matrix from corresponding points in stereo images
`estworldpose`	Estimate camera pose from 3-D to 2-D point correspondences (自 R2022b 起)
`estrelpose`	Calculate relative rotation and translation between camera poses (自 R2022b 起)

`pointTrack`	Object for storing matching points from multiple views
`findTracks`	Find matched points across multiple views
`triangulate`	3-D locations of undistorted matching points in stereo images
`triangulateMultiview`	3-D locations of world points matched across multiple images

`bundleAdjustment`	Adjust collection of 3-D points and camera poses
`bundleAdjustmentMotion`	Adjust collection of 3-D points and camera poses using motion-only bundle adjustment
`bundleAdjustmentStructure`	Refine 3-D points using structure-only bundle adjustment

`stereoAnaglyph`	Create red-cyan anaglyph from stereo pair of images
`pcshow`	Plot 3-D point cloud
`plotCamera`	Plot camera in 3-D coordinates
`showMatchedFeatures`	Display corresponding feature points

`rotmat2vec3d`	Convert 3-D rotation matrix to rotation vector (自 R2022b 起)
`rotvec2mat3d`	Convert 3-D rotation vector to rotation matrix (自 R2022b 起)
`quaternion`	Create quaternion array (自 R2023b 起)

坐标系
指定像素索引、空间坐标和三维坐标系。
Point Feature Types
Choose functions that return and accept points objects for several types of features.
Local Feature Detection and Extraction
Learn the benefits and applications of local feature detection and extraction.
What Is Structure from Motion?
Estimate three-dimensional structures from two-dimensional image sequences.

Using the Single Camera Calibrator App
Prepare camera calibration images and estimate camera intrinsic parameters.
Using the Stereo Camera Calibrator App
Calibrate a stereo camera, which you can then use to recover depth from images.

Reconstruct a 3-D scene from a sequence of 2-D views taken with a camera calibrated.

Estimate 3-D structure of a scene from a set of 2-D images.

Determine location and orientation of a camera by analyzing a sequence of images.