Faugeras, O., What can be seen in 3D with an uncalibrated stereo rig?, ECCV, 1992.  Home/Search   Document Not in Database   Summary   Related Articles

....structure is assessed by measuring its invariants to the linear transformation, and by predicting image projections. 1 Introduction A number of recent papers have discussed the advantages of recovering structure alone, rather than structure and motion simultaneously, from image sequences [4, 5, 6]. Briefly, structure can be recovered up to a 3D global linear transformation (affine or projective) without the numerical instabilities and ambiguities which normally plague SFM algorithms. In this paper we compare and evaluate three methods for obtaining such structure. The novelty of this ....

....(in this case the four coplanar points and x I ) by I 1 = jm 320 jjm I10 j jm 310 jjm I20 j I 2 = jm 310 jjm I21 j jm 321 jjm I10 j where m jkl is the matrix [ x j x k x l ] and jmj its determinant. 4. 2 8 point projective transfer The construction described is a projective version [4, 5] of Longuet Higgins 8 point algorithm [7] As is well known [8, 10] if points lie on a critical surface the epipolar geometry cannot be recovered. The method will clearly fail in these cases. We have 8 corresponding points x i ; x i ; i 2 f0; 7g in two views. 1. Calculate essential matrix ....

Faugeras, O., What can be seen in 3D with an uncalibrated stereo rig?, ECCV, 1992.

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