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The 3D Line Motion Matrix and the Alignment of Line Reconstructions

Adrien Bartoli 1 Peter Sturm 1 
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : We study the problem of aligning two 3D line reconstructions expressed in Plücker line coordinates. We introduce the 6×6 3D line motion matrix that acts on Plucker coordinates in projective, affine or Euclidean space. We characterize its algebraic properties and its relation to the usual 4×4 point motion matrix, and propose various methods for estimating 3D motion from line correspondences, based on image-related and 3D cost functions. We assess the quality of the different estimation methods using simulated data and real images.
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Adrien Bartoli, Peter Sturm. The 3D Line Motion Matrix and the Alignment of Line Reconstructions. IEEE International Conference on Computer Vision and Pattern Recognition (CVPR '01), Dec 2001, Kauai, United States. pp.287--292, ⟨10.1109/CVPR.2001.990488⟩. ⟨inria-00590146⟩



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