Trinocular ystem for 3D motion and dense structure estimation
2009
The relief of the seafloor is an important source of data for many scientists.
In this paper we present an optical system to deal with underwater 3D reconstruction.
This system is formed by three cameras that take images synchronously in
a constant frame rate scheme. We use the images taken by these cameras to compute
dense 3D reconstructions. We use Bundle Adjustment to estimate the motion of
the trinocular rig. Given the path followed by the system, we get a dense map of the
observed scene by registering the different dense local reconstructions in a unique
and bigger one.
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