Using structure from motion for monument 3D reconstruction from images with heterogeneous background

In the paper the task of 3D reconstruction of the cultural heritage objects, historical and cultural monuments is considered. The problems of performing this task in the complex environment are explained. The Structure from Motion (SfM) technique is chosen. It is implemented by example of 3D reconstruction of the Sergei Yesenin monument in the Ryazan Kremlin from its images. The technique of the foreground detection for the images with heterogeneous background is proposed. It is used in the modified SfM technique. The results of using this technique are illustrated.