COMBINING NARROW-BASELINE AND WIDE-BASELINE STEREO FOR THREE-DIMENSIONAL MODELING

摘要

In an embodiment, a method determines a three-dimensional model from a plurality of images taken of a geographic region by one or more cameras from different perspectives. The method includes determining, using a first stereo reconstruction technique: (i) a plurality of three-dimensional candidate surface points from the plurality of images, and (ii) which of the images in the plurality of images view each of the plurality of candidate surface points. The method also includes identifying an empty space between each of the plurality of candidate surface points and each camera model for the respective images determined to view the candidate surface point. The method further includes for each of a plurality of pairs of images from the plurality of images, determining, using a second stereo reconstruction technique, a surface estimate for the pair of images. The method also includes merging the surface estimates to identify a final surface.