The reconstruction of accurate three-dimensional environment models is one of the most fundamental goals in the field of photogrammetry.
We propose a framework that extends Blender to exploit Structure from Motion (SfM) and Multi-View Stereo (MVS) techniques for image-based modeling tasks such as sculpting or camera and motion tracking.
The 3D reconstruction of the scene is computed with an image-based Structure-from-Motion (SfM) component that enables us to leverage a state estimator in the corresponding 3D scene during tracking.
We apply Structure from Motion techniques to vehicle and background images to determine for each frame camera poses relative to vehicle instances and background structures.
We compute the object trajectory by combining object and background camera pose information.
We apply Structure from Motion techniques to object and background images to determine for each frame camera poses relative to object instances and background structures.
The evaluation shows that our tracking approach is able to track objects with high relative motions.