I built a 3D scene reconstruction pipeline as part of the computer vision class at CMU. Given a pair of stereo images and the intrinsic and extrinsic matrices of the cameras, a scene is reconstructed in as 3D sparse features using triangulation, epipolar geometry, RANSAC, and finally bundle adjustment.
![](https://yvesdaoud.com/wp-content/uploads/2022/09/screen-shot-2022-09-02-at-9.05.01-pm.png?w=488)
![](https://yvesdaoud.com/wp-content/uploads/2022/09/screen-shot-2022-09-02-at-9.07.04-pm.png?w=1024)