A shape hierarchy for 3D modelling from video

This paper describes an interactive method for generating a model of a scene from image data. The method uses the camera parameters and point cloud typically generated by structure-and-motion estimation as a starting point for developing a higher level model, in which the scene is represented as a set of parameterised shapes. Classes of shapes are represented in a hierarchy which defines their properties but also the method by which they are localised in the scene, using a combination of user interaction, sampling and optimisation. Relations between shapes, such as adjancency and alignment, are also specified interactively. The method thus provides a modelling process which requires the user to provide only high level scene information, the remaining detail being provided through geometric analysis of the image set. This mixture of guided, yet automated, fitting techniques allows a non-expert user to rapidly and intuitively create a visually convincing 3D model of a real world scene from an image set