Plenoptic Modeling of 3D Scenes with a Sensor-augmented Multi-Camera Rig

Abstract

We propose a system for robust modeling and visualisation of complex outdoor scenes from multi-camera image sequences and additional sensor information. A camera rig with one or more fire-wire cameras is used in conjunction with a 3-axis rotation sensor to robustly obtain a calibration of the scene with an uncalibrated structure from motion approach. Dense depth maps are estimated with multi-viewpoint stereo and the scene is visualized from a plenoptic representation of the scene