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From Projective to Euclidean Reconstruction

Frédéric Devernay 1 Olivier Faugeras 
1 ROBOTVIS - Computer Vision and Robotics
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : To make a Euclidean reconstruction of the world seen through a stereo rig, we can either use a calibration grid, and the results will rely on the precision of the grid and the extracted points of interest, or use self-calibration. Past work on self-calibration is focussed on the use of only one camera, and gives sometimes very unstable results. In this paper, we use a stereo rig which is supposed to be weakly calibrated using a method such as the one described in~\cite{deriche-zhang-etal:94}. Then, by matching two sets of points of the same scene reconstructed from different points of view, we try to find both the homography that maps the projective reconstruction~\cite{faugeras:92} to the Euclidean space and the displacement from the first set of points to the second set of points. We present results of the Euclidean reconstruction of a whole object from uncalibrated cameras using the method proposed here.
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Submitted on : Wednesday, May 24, 2006 - 2:11:49 PM
Last modification on : Friday, February 4, 2022 - 3:22:42 AM
Long-term archiving on: : Thursday, March 24, 2011 - 1:32:29 PM


  • HAL Id : inria-00073969, version 1



Frédéric Devernay, Olivier Faugeras. From Projective to Euclidean Reconstruction. RR-2725, INRIA. 1995. ⟨inria-00073969⟩



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