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Relative 3D Positioning and 3D Convex Hull Computation from a Weakly Calibrated Stereo Pair

Luc Robert 1 Olivier Faugeras 1
1 ROBOTVIS - Computer Vision and Robotics
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : Assuming that we only know the epipolar geometry of a pair of stereo images, encoded in the so-called fundamental matrix, we show that some useful and intuitive three-dimensional information, such as relative positions of points and planes and 3D convex hulls, can be computed in the images without performing any three-dimensional reconstruction. We introduce the notion of visibility, which allows deriving those properties. Results on real data are shown.
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https://hal.inria.fr/inria-00074328
Contributor : Rapport de Recherche Inria <>
Submitted on : Wednesday, May 24, 2006 - 3:04:24 PM
Last modification on : Thursday, February 7, 2019 - 3:50:13 PM
Long-term archiving on: : Tuesday, April 12, 2011 - 4:34:12 PM

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Luc Robert, Olivier Faugeras. Relative 3D Positioning and 3D Convex Hull Computation from a Weakly Calibrated Stereo Pair. [Research Report] RR-2349, INRIA. 1994. ⟨inria-00074328⟩

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