Abstract
Deriving 3D structure in a fixed object-centered coordinate system
is an increasingly popular trend in shape from multiple views. For
linear approximations to perspective projection (weak/para perspective),
and for the case of image velocities, elegant linear methods have been
devised for robust estimation. For reconstruction under arbitrary view
transformations, linear projective methods using point correspondences
have been suggested. In this paper, we formulate the problem of
intrinsic 3D structure estimation through perspective projection using
motion parallax, defined with respect to an arbitrary plane in the
environment. It is shown that if an image coordinate system is warped
using plane projective transformation with respect to a reference view,
the residual image motion is dependent only on the epipoles and has a
simple relation to the 3D structure. Our computational scheme avoids
point/line correspondence and is based on hierarchical estimation and
image warping working directly with spatio-temporal image intensities
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