Skip to Main content Skip to Navigation
Journal articles

Trinocular Geometry Revisited

Abstract : When do the visual rays associated with triplets of point correspondences converge, that is, intersect in a common 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 geometric 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, which can be used to construct a practical and efficient method for trinocular geometry parameter estimation. We present numerical experiments using synthetic and real data.
Complete list of metadatas

Cited literature [23 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01152348
Contributor : Matthew Trager <>
Submitted on : Monday, February 15, 2016 - 3:18:24 PM
Last modification on : Tuesday, April 21, 2020 - 10:18:07 AM

File

ijcv2016.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01152348, version 3

Collections

Citation

Matthew Trager, Jean Ponce, Martial Hebert. Trinocular Geometry Revisited. International Journal of Computer Vision, Springer Verlag, 2016. ⟨hal-01152348v3⟩

Share

Metrics

Record views

960

Files downloads

622