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Structure From Motion : A python implementation to reconstruct a 3D scene and obtain camera poses with respect to scene

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naitri/SFM

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SFM

This repository implements reconstruction of a 3D scene and simulataneously obtaining the camera poses of a monocular camera w.r.t the scene. The algorithm of the same is:

  • Feature Matching and Outlier rejection using RANSAC

  • Estimating Fundamental Matrix

  • Estimating Essential Matrix from Fundamental Matrix

  • Estimate Camera Pose from Essential Matrix

  • Check for Cheirality Condition using Triangulation

  • Perspective-n-Point

  • Bundle Adjustment

Run Instructions

python Wrapper.py --Path PATH_TO_DATA --Filtered False