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Affine structure from line correspondences with uncalibrated affine cameras

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2 Author(s)
Long Quan ; CNRS, Montbonnot, France ; Kanade, T.

This paper presents a linear algorithm for recovering 3D affine shape and motion from line correspondences with uncalibrated affine cameras. The algorithm requires a minimum of seven line correspondences over three views. The key idea is the introduction of a one-dimensional projective camera. This converts 3D affine reconstruction of “line directions” into 2D projective reconstruction of “points”. In addition, a line-based factorization method is also proposed to handle redundant views. Experimental results both on simulated and real image sequences validate the robustness and the accuracy of the algorithm

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Pattern Analysis and Machine Intelligence, IEEE Transactions on  (Volume:19 ,  Issue: 8 )