Reconstruction métrique minimale à partir de trois caméras affines

Marc-André Ameller 1 Adrien Bartoli 1 Long Quan 1
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : Structure and motion from minimal data is essential to bootstrap robust methods based on random sampling such as RANSAC (RANdom SAmple Consensus) or LMS (Least Median of Squares). Let us consider the affine camera model and make the hypotheses of zero skew and unity aspect ratio. In this case, at least 4 points in 3 images are necessary to recover structure and motion. We propose a parametrization based on metric structure rather than camera motion parameters which have been previously used. The structure of 4 points is computed in closed-form by solving a quadratic equation. Unstable configurations are also investigated. Experimental results on simulated data and real images demonstrate the stability of our algorithm. Computed solutions with minimal data are compared with those obtained after optimization on redundant data.
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Marc-André Ameller, Adrien Bartoli, Long Quan. Reconstruction métrique minimale à partir de trois caméras affines. 13ème Congrès Francophone de Reconnaissance des Formes et Intelligence Artificielle (RFIA 2002), Jan 2002, France. pp.471-477. ⟨hal-00094803⟩

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