Multi-run 3D Streetside Reconstruction from a Vehicle

Accurate 3D modellers of real-world scenes are important tools for visualizing or understanding outside environments. The paper considers a camera-based 3D reconstruction system where stereo cameras are mounted on a mobile platform, recording images while moving through the scene. Due to the limited viewing angle of the cameras, resulting reconstructions often result in missing (e.g. while occluded) components of the scene. In this paper, we propose a stereo-based 3D reconstruction framework for merging multiple runs of reconstructions when driving in di↵erent directions through a real-world scene.