Depth Estimation and Dense Reconstruction with the Monocular Camera (Tutor: Tianjun Zhang, wechat: z619850002)

Introduction

3D reconstruction based on the monocular vision is a classic task in the field of computer vision. In this project, we will make a simplification: camera poses corresponding to each frame will be known, so only the depth estimation and the dense map construction need to be focused.

                                                    Fig. 1: Depth Estimation

 

                                             Fig. 2: Dense Scene Reconstruction

 

   Fig. 3: Scene structure reconstruction incrementally using a single agent

　

Requirements

1)  The dataset, which is actually a video sequence of images captured by a monocular camera and corresponding camera poses, will be provided. Depth maps of key frames should be firstly recovered by any proper algorithms. Then the dense map of the scene can be constructed incrementally.

2) When the video stream is input, your system should be able to construct a dense map in real-time or quasi real-time, rather than offline. GPU is allowed.

3) We will offer a depth-estimation system as a baseline. You can both modify it or implement your own system.
　

Reference Materials