TY - GEN
T1 - Simultaneous Reconstruction of Scene Structure and Camera Locations from Uncalibrated Image Sequences
AU - Sparr, Gunnar
PY - 1996
Y1 - 1996
N2 - The paper deals with the structure-motion problem for images of point configurations taken by uncalibrated cameras. Using a parametrisation by affine shape and kinetic depth, a complete and explicit characterisation of the imaging geometry is given, including the shape of the object configuration and the positions of the cameras relative to the scene. No epipolar geometry is used. It is shown that not only the projective but also the affine structure of the scene can be recovered when knowing the relative placement of five of the camera centres (four if they are coplanar). Variational algorithms for reconstruction and motion are presented, thus avoiding numerically unstable solving of algebraic equations. Any number of points in any number of images can be treated simultaneously and uniformly, without preselection of reference points. The performances of the algorithms are illustrated on simulations and experiments
AB - The paper deals with the structure-motion problem for images of point configurations taken by uncalibrated cameras. Using a parametrisation by affine shape and kinetic depth, a complete and explicit characterisation of the imaging geometry is given, including the shape of the object configuration and the positions of the cameras relative to the scene. No epipolar geometry is used. It is shown that not only the projective but also the affine structure of the scene can be recovered when knowing the relative placement of five of the camera centres (four if they are coplanar). Variational algorithms for reconstruction and motion are presented, thus avoiding numerically unstable solving of algebraic equations. Any number of points in any number of images can be treated simultaneously and uniformly, without preselection of reference points. The performances of the algorithms are illustrated on simulations and experiments
KW - computational geometry - computer vision - image reconstruction - image sequences - motion estimation - variational techniques
KW - scene structure reconstruction - camera locations - uncalibrated image sequences - structure-motion - parametrisation - kinetic depth - imaging geometry - image recovery - camera centres - variational algorithms - structure motion ana
U2 - 10.1109/ICPR.1996.546043
DO - 10.1109/ICPR.1996.546043
M3 - Paper in conference proceeding
SN - 0 8186 7282 X
VL - 1
SP - 328
EP - 333
BT - Proceedings of the 13th International Conference on Pattern Recognition
PB - IEEE - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th International Conference on Pattern Recognition, (ICPR 1996)
Y2 - 25 August 1996 through 29 August 1996
ER -