Testing Structure From Motion Software II

Let's try to get some real data with some real pictures.

On the last flight, lasting 5 minutes 33 seconds a total of 134 pictures were taken (67 with each camera).

Out of those, 38 were matched to a single scene in VisualSFM:

This time the results are much more better. The shape of the house or the vehicles parked outside can be easily distinguished.

And when combined with CMPMVS:

Also showing produced disparity map and generated ortophoto picture of the scene:

The results look good! Houses, roads, bushes, trees and even separate fields can be distinguished now.

But they could be better still. For one, while focus was locked, the exposure and ISO weren't and the cameras "decided" to take pictures at shutter speed 1/100 s with ISO 80. Manually decreasing the shutter speed and increasing ISO would produce even sharper images.

Secondly, decreasing the time between shots would mean more images and more overlapping matching points. Now the shots were taken at 5 second intervals. This could be reduced to 4 seconds for stereo images.

It could be even reduced down to 2 seconds between pictures if the cameras would take turn taking pictures, but then this would become purely structure from motion reconstruction (as it was here if we can't get the stereo registration to work properly).