OpenCV 4 with Python Blueprints - Second Edition

3D Scene Reconstruction Using Structure from Motion

In the previous chapter, you learned how to detect and track an object of interest in the video stream of a webcam, even if the object is viewed from different angles or distances, or under partial occlusion. Here, we will take the tracking of interesting features a step further and see what we can learn about the entire visual scene by studying similarities between image frames.

The goal of this chapter is to study how to reconstruct a scene in 3D by inferring the geometrical features of the scene from camera motion. This technique is sometimes referred to as structure from motion. By looking at the same scene from different angles, we will be able to infer the real-world 3D coordinates ...