Structure from Motion (SFM)

Introduction to SFM

Structure from Motion (SFM) is a photogrammetric range imaging technique for estimating three-dimensional structures from two-dimensional image sequences that may be coupled with local motion signals.

Key Components

• Feature Detection and Matching
• Camera Pose Estimation
• 3D Point Cloud Generation
• Bundle Adjustment
• Dense Reconstruction

Mathematical Foundation

Core mathematical concepts behind SFM:

• Epipolar Geometry
• Essential and Fundamental Matrices
• Triangulation
• RANSAC

Implementation Steps

Detailed steps for implementing an SFM pipeline:

1. Image Acquisition
2. Feature Detection (SIFT, SURF, ORB)
3. Feature Matching
4. Geometric Verification
5. Camera Pose Estimation
6. Triangulation of 3D Points
7. Bundle Adjustment Optimization
8. Dense Reconstruction (Optional)