Motion From 3D Line Correspondences: Linear and Non-Linear Solutions

Adrien Bartoli (1) , Richard Hartley (2) , Fredrik Kahl (3)

1 MOVI - Modeling, localization, recognition and interpretation in computer vision
2 ASSET - Autonomous Systems and Sensor Technology
3 CMS - Center for Mathematical Sciences

We address the problem of aligning two reconstructions of lines and cameras in projective, affine, metric or Euclidean space. We propose several 3D and image-related linear algorithms. The result can be used to initialize the non-linear minimization of several proposed error functions, as well as the maximum likelihood estimator that we derive. We evaluate and compare our algorithms to existing ones using simulated and real data.

Domaines: Vision par ordinateur et reconnaissance de formes [cs.CV]

Adrien Bartoli, Richard Hartley, Fredrik Kahl. Motion From 3D Line Correspondences: Linear and Non-Linear Solutions. --, 2003, France. pp.477-484. ⟨hal-00094771⟩