Projective structure from uncalibrated images: structure from motion and recognition

摘要

Address the problem of reconstructing 3-D space in a projective framework from two or more views, and the problem of artificially generating novel views of the scene from two given views (reprojection). The author describes an invariance relation that provides a new description of structure, which the author calls projective depth, that is captured by a single equation relating image point correspondences across two or more views and the homographics of two arbitrary virtual planes. The framework is based on knowledge of correspondence of features across views, is linear and extremely simple, and the computations of structure readily extend to overdetermination using multiple views. Experimental results demonstrate a high degree of accuracy in both tasks: reconstruction and reprojection.