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Trinocular Geometry Revisited

Jean Ponce 1, 2 Martial Hebert 3 
1 WILLOW - Models of visual object recognition and scene understanding
DI-ENS - Département d'informatique - ENS Paris, Inria Paris-Rocquencourt, CNRS - Centre National de la Recherche Scientifique : UMR8548
Abstract : When do the visual rays associated with triplets of point correspondences converge, that is, intersect in a commπon point? Classical models of trinocular geometry based on the fundamental matrices and trifocal tensor associated with the corresponding cameras only provide partial answers to this fundamental question, in large part because of underlying, but seldom explicit, general configuration assumptions. This paper uses elementary tools from projective line geometry to provide necessary and sufficient geo- metric and analytical conditions for convergence in terms of transversals to triplets of visual rays, without any such assumptions. In turn, this yields a novel and simple minimal parameterization of trinocular geometry for cameras with non-collinear or collinear pinholes.
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Submitted on : Friday, August 1, 2014 - 1:37:15 AM
Last modification on : Thursday, March 17, 2022 - 10:08:39 AM
Long-term archiving on: : Tuesday, November 25, 2014 - 10:41:40 PM


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  • HAL Id : hal-01053676, version 1



Jean Ponce, Martial Hebert. Trinocular Geometry Revisited. CVPR - IEEE Conference on Computer Vision and Pattern Recognition, Jun 2014, Columbus, Ohio, United States. ⟨hal-01053676⟩



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