This project implements a Structure from Motion pipeline for obtaining monocular camera poses in a given scene and reconstructing a 3D scene by leveraging Epipolar geometry.
Please refer to the Report for implementation details:
- Feature Matching and Outlier rejection using RANSAC
- Estimating Fundamental Matrix
- Estimating Essential Matrix from Fundamental Matrix
- Estimate Camera Pose from Essential Matrix
- Check for Cheirality Condition using Triangulation
- Perspective-n-Point
- Bundle Adjustment
A set of 5 calibrated images of Worcester Polytechnic Institute's Unity Hall:
