Method and system for recovery of 3D scene structure and camera motion from a video sequence

Abstract

An improved method and a system are disclosed for recovering a three-dimensional (3D) scene structure from a plurality of two-dimensional (2D) image frames obtained from imaging means. Sets of 2D features are extracted from the image frames, and sets corresponding to successive image frames are matched, such that at least one pair of matched 2D features refers to a same 3D point in a 3D scene captured in 2D in the image frames. A 3D ray is generated by a back-projection from each 2D feature, and the generated 3D rays are subjected to an anchor-based minimization process, for determining camera motion parameters and 3D scene points coordinates, thereby recovering a structure of a 3D scene.