Optimal Keyframe Selection Algorithm for Three-dimensional Reconstruction in Uncalibrated Multiple Images

A keyframe selection algorithm is the process of selecting the essential image for 3-D reconstruction from among many uncalibrated images. Camera autocalibration between images is also essential for 3-D reconstruction. This paper proposes a keyframe selection algorithm that selects the best image to reduce reprojection error. The camera projection matrix in the selected keyframe arises from a full camera autocalibration process. From the camera projection matrix, which is assumed exact, the algorithm calculates the fundamental matrix using algebraic derivation. By this process, false matching is eliminated and finally a 3-D data set is obtained. In our experimental results, the proposed algorithm needs less time than other algorithms; it also has fewer errors in the reconstructed 3-D data. The fundamental matrix that is gained from algebraic derivation takes less time than other algorithms, and it has same average error as the others. Yung-Ho Seo, Sang-Hoon Kim, Kyoung-Soo Doo, and Jong-Soo Choi "Optimal keyframe selection algorithm for three-dimensional reconstruction in uncalibrated multiple images," Optical Engineering 47(5), 053201 (1 May 2008).