Affine Structure from Line Correspondences with Uncalibrated Affine Cameras

Long Quan 1 Takeo Kanade 2
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
2 The Robotics Institute
Abstract : This paper presents a linear algorithm for recovering 3D affine shape and motion from line correspondences with uncalibrated affine cameras. The algorithm requires a minimum of seven line correspondences over three views. The key idea is the introduction of a one-dimensional projective camera. This converts 3D affine reconstruction of "line directions" into 2D projective reconstruction of "points". In addition, a line-based factorisation method is also proposed to handle redundant views. Experimental results both on simulated and real image sequences validate the robustness and the accuracy of the algorithm.
Keywords : structure from motion affine structure factorization method line correspondence affine camera one-dimensional camera uncalibrated image
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Journal articles
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Long Quan, Takeo Kanade. Affine Structure from Line Correspondences with Uncalibrated Affine Cameras. IEEE Transactions on Pattern Analysis and Machine Intelligence, Institute of Electrical and Electronics Engineers, 1997, 19 (8), pp.834--845. ⟨10.1109/34.608285⟩. ⟨inria-00590071⟩

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