Trinocular System for 3D motion and Dense Stucture Estimation

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orcId Campos Dausà, Ricard​ ​ scopusId Campos Dausà, Ricard​ ​
Campos Dausà, Ricard
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Ferrer Vila, Jordi
​ ​ scopusId Villanueva Canalda, Miquel​ ​
Villanueva Canalda, Miquel
​ ​ scopusId Magí Carceller, Lluís​ ​
Magí Carceller, Lluís
orcId García Campos, Rafael​ researcherId García Campos, Rafael​ scopusId García Campos, Rafael​ ​
García Campos, Rafael
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The relief of the seafloor is an important source of data for many scientists. In this paper we present an optical system to deal with underwater 3D reconstruction. This system is formed by three cameras that take images synchronously in a constant frame rate scheme. We use the images taken by these cameras to compute dense 3D reconstructions. We use Bundle Adjustment to estimate the motion of the trinocular rig. Given the path followed by the system, we get a dense map of the observed scene by registering the different dense local reconstructions in a unique and bigger one ​
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