Relative 3D Positioning and 3D Convex Hull Computation from a Weakly Calibrated Stereo Pair
Résumé
Assuming that we only know the epipolar geometry of a pair of stereo images, encoded in the so-called fundamental matrix, we show that some useful and intuitive three-dimensional information, such as relative positions of points and planes and 3D convex hulls, can be computed in the images without performing any three-dimensional reconstruction. We introduce the notion of visibility, which allows deriving those properties. Results on real data are shown.