Ego-Translation Estimation from One Straight Edge in Constructed Scenes

摘要

The task of recovering the camera motion relative to the environment (ego-motion estimation) is fundamental to many computer vision applications and this field has witnessed a wide range of approaches to this problem. Usual approaches are based on point or line correspondences, optical flow or the so-called direct methods. We present an algorithm for determining 3D motion and structure from one line correspondence between two perspective images. Classical methods which use supporting lines need at least three images. In this work, however, we show that only one supporting line correspondence belong to a planar surface in the space is enough to estimate the camera ego-translation provided the texture on the surface close to the line is enough discriminative. Only one line correspondence is enough and it is not necessary that two matched line segments contain the projection of a common part of the corresponding line segment in space. We first recover camera rotation by matching vanishing points based on the methods already exist in the literature and then recovering the camera translation. Experimental results on both synthetic and real images prove the functionality of the proposed method.