G. Bradski, V. Eruhimov, Sergey Molinov, V. Mosyagin, Vadim Pisarevsky
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The paper describes an algorithm for 3D reconstruction of a toy composed from rigid bright colored blocks with the help of a conventional video camera. The blocks are segmented using histogram thresholds and merged into one connected component corresponding to the whole toy. We also present the algorithm for extracting the color structure and matching feature points across the frames and discuss robust structure from motion and recognition connected with the subject.
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