Real-Time Video-Based Reconstruction of Urban Environments

We present an approach for automatic 3D reconstruction of outdoor scenes using computer vision techniques. Our system collects video, GPS and INS data which are processed in real-time to produce geo-registered, detailed 3D models that represent the geometry and appearance of the world. These models are generated without manual measurements or markers in the scene and can be used for visualization from arbitrary viewpoints, documentation and archiving of large areas. Our system consists of a data acquisition system and a processing system that generated 3D models from the video sequences off-line but in real-time. The GPS/INS measurements allow us to geo-register the pose of the camera at the time each frame was captured. The following stages of the processing pipeline perform dense reconstruction and generate the 3D models, which are in the form of a triangular mesh and a set of images that provide texture. By leveraging the processing power of the GPU, we are able to achieve faster than real-time performance, while maintaining an accuracy of a few cm. 1