Name
Abstract | ||
|---|---|---|
We present a fast and robust system for estimating struc- ture and motion using a stereo pair, with straight lines as features. Our first set of contributions are efficient algo- rithms to perform this estimation using a few (two or three) lines, which are well-suited for use in a hypothesize-and-test framework. Our second contribution is the design of an efficient structure from motion system that performs robustly in complex indoor environments. By using infinite lines rather than line segments, our approach avoids the issues arising due to uncertain deter- mination of end-points. Our cost function stems from a rank condition on planes backprojected from corresponding image lines. We propose a framework that imposes orthonor- mality constraints on the rigid body motion and can perform estimation using only two or three lines, through efficient solution of an overdetermined system of polynomials. This is in contrast to simple approaches which first reconstruct 3D lines and then align them, but perform poorly in real-world scenes with narrow baseline stereo. Experiments using synthetic as well as real data demon- strate the speed, accuracy and reliability of our system. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/ICCV.2009.5459390 | Kyoto |
Keywords | DocType | Volume |
image reconstruction,motion estimation,polynomials,stereo image processing,3d line reconstruction,hypothesize-and-test framework,orthonormality constraints,rigid body motion,stereo pair,structure estimation | Conference | 2009 |
Issue | ISSN | ISBN |
1 | 1550-5499 E-ISBN : 978-1-4244-4419-9 | 978-1-4244-4419-9 |
Citations | PageRank | References |
28 | 1.09 | 18 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Manmohan Chandraker | 1 | 451 | 25.58 |
| Jongwoo Limy | 2 | 28 | 1.09 |
| David Kriegman | 3 | 7693 | 451.96 |