## Abstract

We describe an algorithm to determine dense 3-D structure in a static
scene from an image sequence captured by a moving camera. Metric
camera motions are first determined using a recursive structure from
motion algorithm based on tracked feature points. Dense depth
information for a subset of key frames is then obtained using a novel
probabilistic depth carving algorithm - analogous to space
carving - in which depth probabilities obtained locally about the key
frames are combined in 3-D space. An important component in this
process is that opacity and occlusion relationships are modelled
explicitly, enabling consistent combination of the depth
probabilities. Results of experiments on a real sequence illustrate
the effectiveness of the approach.

Translated title of the contribution | Dense 3-D Structure from Image Sequences Using Probabilistic Depth Carving |
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Original language | English |

Title of host publication | Unknown |

Publisher | BMVA 2003 |

Pages | 211 - 220 |

Number of pages | 9 |

ISBN (Print) | 1901725235 |

Publication status | Published - Sep 2003 |