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we propose a framework of combining Machine Learning with Dynamic Optimization for reconstructing scene in 3D automatically from a single still image of unstructured outdoor environment based on monocular vision of an uncalibrated camera. After segmenting image first time, a kind of searching tree strategy based on Bayes rule is used to identify the hierarchy of all areas on occlusion. After superpixel segmenting image second time, the AdaBoost algorithm is applied in the integration detection to the depth of lighting, texture and material. Finally, all the factors above are optimized with constrained conditions, acquiring the whole depthmap of an image. Integrate the source image with its depthmap in point-cloud or bilinear interpolation styles, realizing 3D reconstruction. Experiment in comparisons with typical methods in associated database demonstrates our method improves the reasonability of estimation to the overall 3D architecture of image’s scene to a certain extent. And it does not need any manual assist and any camera model information

3D Reconstruction from a Single Still Image Based on Monocular Vision of an Uncalibrated Camera