Genetic algorithms and bundle adjustment for the enhancement of 3D reconstruction

In this paper, we present a new technique of tridimensional reconstruction from a sequence of uncalibrated stereo images taken with cameras having varying parameters. At first, our system allows to recover initial coordinates of a set of 3D points. In this context, we have used our method of self-calibration based on the use of unknown 3D scene with its image projections and genetic algorithms to estimate all intrinsic parameters. After that extrinsic parameters are estimated based on classical pose estimation algorithms. Matching points and estimated value of intrinsic and extrinsic parameters are used to estimate initial 3D model that helps us in the initialization step. In order to have a reliable and relevant 3D reconstruction the proposed method is based on good and new exploitation of bundle adjustment (without camera poses initialization) technique based on Levenberg-Marquardt optimization with the aim to estimate our optimal 3D model that has special features compared to the classical case because it masks the pose parameters estimation in the optimization process. Finally, 3D mesh of the 3D scene is constructed with Delaunay algorithm and the 2D image is projected on the 3D model to generate the texture mapping. Experiments is conducted on real data to achieve demonstrate the validity and the performance of the proposed approach in terms of convergence, simplicity, stability and reconstruction quality.