Incremental structure from motion algorithm based on weighted scene graph

The structure from motion (SfM) is a reconstruction algorithm that recovers the pose of cameras and three-dimensional structure of the target by calculating the image matching relationship. An incremental SfM algorithm based on weighted scene graph was proposed. Firstly, a weighted scene graph was established, which quantified the matching relationship between image pairs. Secondly, an optimal initial seed pair of degree perception was searched based on the edge weights of the weighted scene graph. Finally, the next optimal image candidate set was constructed according to the connectivity of the reconstructed vertices, and an evaluation algorithm based on the vertex degree and feature point distribution was designed to search for the next optimal image in the candidate set. The experimental results on multiple public datasets show that the proposed algorithm outperforms existing advanced structure from motion algorithms in terms of reconstruction quality, camera calibration rate and point cloud generation quantity. Compared with the benchmark comparison algorithms, the average reconstruction time on different datasets is reduced by at least 19%, and the point cloud generation rate is increased by at least 21%.