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The paper describes a system for structure-from-motion using vanishing points and three-dimensional lines extracted from omnidirectional video sequences. Two novel aspects of this work are its deferred initialization of features using noisy observations from multiple, uncertain vantage points, and its use of dynamic programming for efficient 3D line tracking. We show preliminary results from the system for both indoor and outdoor sequences.
Image Processing. 2002. Proceedings. 2002 International Conference on (Volume:3 )
Date of Conference: 24-28 June 2002