Real-Time Photorealistic 3D Map Building using Mobile Multiple Stereo Cameras Setup

Abstract

This work proposes a multiple stereo cameras setup as sensing device for real time photorealistic 3D map building task. Applications include 3D photorealistic capturing of historic sites, remote exploration and navigation for autonomous robots, 3DTV, entertainment industry and much more. Particular emphasis is placed on the novel multiple cameras arrangement that minimizes the weak points found on single stereo camera system and gives advantages toward the applications that require high accuracy 3D spatial and 3D geometry information, e.g. 3D mapping, 3D positioning and trajectory estimation. A hardware prototype was constructed and it shows promising performance toward real time photorealistic 3D map building task.