Structure from Motion

3-D reconstruction from multiple views

Structure from Motion (SfM) is the process of estimating the 3-D structure of a scene from a set of 2-D images. For more details, see Implement Visual SLAM in MATLAB.

Apps

Camera Calibrator	Estimate geometric parameters of a single camera
Stereo Camera Calibrator	Estimate geometric parameters of a stereo camera

Functions

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Detect Features

`detectBRISKFeatures`	Detect BRISK features
`detectFASTFeatures`	Detect corners using FAST algorithm
`detectHarrisFeatures`	Detect corners using Harris–Stephens algorithm
`detectMinEigenFeatures`	Detect corners using minimum eigenvalue algorithm
`detectMSERFeatures`	Detect MSER features
`detectSIFTFeatures`	Detect scale invariant feature transform (SIFT) features (Since R2021b)
`detectSURFFeatures`	Detect SURF features

Match Features

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

Estimate 3-D Structure

Store Image and Camera Data

`imageviewset`	Manage data for structure-from-motion, visual odometry, and visual SLAM (Since R2020a)
`worldpointset`	Manage 3-D to 2-D point correspondences (Since R2020b)
`cameraIntrinsics`	Object for storing intrinsic camera parameters
`rigidtform3d`	3-D rigid geometric transformation (Since R2022b)
`affinetform3d`	3-D affine geometric transformation (Since R2022b)

Estimate Camera Poses

`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 (Since R2022b)
`estrelpose`	Calculate relative rotation and translation between camera poses (Since R2022b)

Triangulate Image Points

`pointTrack`	Object for storing matching points from multiple views
`findTracks`	Find matched points across multiple views (Since R2020a)
`triangulate`	3-D locations of undistorted matching points in stereo images
`triangulateMultiview`	3-D locations of world points matched across multiple images

Optimize Camera Poses and 3-D Points

`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 (Since R2020a)
`bundleAdjustmentStructure`	Refine 3-D points using structure-only bundle adjustment (Since R2020a)

Visualize Results

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

Conversions

`rotmat2vec3d`	Convert 3-D rotation matrix to rotation vector (Since R2022b)
`rotvec2mat3d`	Convert 3-D rotation vector to rotation matrix (Since R2022b)
`quaternion`	Create quaternion array (Since R2020a)

Topics

Basics

Coordinate Systems
Specify pixel Indices, spatial coordinates, and 3-D coordinate systems.
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.

Apps for Camera Calibration

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.

Featured Examples

Structure from Motion from Multiple Views

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

Open Live Script

Structure from Motion from Two Views

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

Open Live Script

Monocular Visual Odometry

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

Open Live Script