【摘要】 文章提出由非精确摄像机运动下的图像序列建立３Ｄ环境模型的全景外极面图像方法，实现了无特征提取的时空纹理方向精确估计、深度边界确定和遮挡恢复算法．该方法推广并结合了外极面图像方法和全景图像方法，避免了现有运动分层方法迭代过程中的局部最小化问题，具有计算和存储效率高、适应性强、算法鲁棒性好的优点．建立的自然景物的真实感三维环境模型，可用于机器人全局定位的自然路标提取和真实环境虚拟再现的图像合成．更多还原

【Abstract】 In this paper, a systematic approach is presented to automatically construct the 3D natural scene from video sequences captured by a vibrated camera with only approximately known motion. The proposed approach performs accurate orientation estimation of temporal spatial texture without need of feature extraction, location of depth boundary occluding area recovery. Furthemore, this approach extends and integrates epipolar plan image algorithm and panorama image algorithm. As the result, it not only bypasses the local minimum problem during the iterative procedure in the conventional motion based lager segmentation method, but also has the advantage of high computation and storage efficiency, adaptability, and robustness. The results could be used for landmark selection of robot navigation and image synthesis of virtualized reality.更多还原