Monocular Dense 3D Reconstruction of a Complex Dynamic Scene From Two Perspective Frames

Suryansh Kumar, Yuchao Dai, Hongdong Li; The IEEE International Conference on Computer Vision (ICCV), 2017, pp. 4649-4657

Abstract


This paper proposes a new approach for monocular dense 3D reconstruction of a complex dynamic scene from two perspective frames. By applying superpixel oversegmentation to the image, we model a generically dynamic (hence non-rigid) scene with a piecewise planar and rigid approximation. In this way, we reduce the dynamic reconstruction problem to a "3D jigsaw puzzle" problem which takes pieces from an unorganized "soup of superpixels". We show that our method provides an effective solution to the inherent relative scale ambiguity in structure-from-motion. Since our method does not assume a template prior, or per-object segmentation, or knowledge about the rigidity of the dynamic scene, it is applicable to a wide range of scenarios. Extensive experiments on both synthetic and real monocular sequences demonstrate the superiority of our method compared with the state-of-the-art methods.

Related Material


[pdf] [Supp] [arXiv]
[bibtex]
@InProceedings{Kumar_2017_ICCV,
author = {Kumar, Suryansh and Dai, Yuchao and Li, Hongdong},
title = {Monocular Dense 3D Reconstruction of a Complex Dynamic Scene From Two Perspective Frames},
booktitle = {The IEEE International Conference on Computer Vision (ICCV)},
month = {Oct},
year = {2017}
}