Quasi-perspective Projection Model: Theory and Application to Structure and Motion Factorization from Uncalibrated Image Sequences

  • Authors:

  • Guanghui Wang;Q. M. Wu

  • Affiliations:

  • Department of Electrical and Computer Engineering, University of Windsor, Windsor, Canada N9B 3P4 and National Laboratory of Pattern Recognition, Institute of Automation, Chinese Academy of Scienc ...;Department of Electrical and Computer Engineering, University of Windsor, Windsor, Canada N9B 3P4

  • Venue:
  • International Journal of Computer Vision
  • Year:
  • 2010

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Abstract

This paper addresses the problem of factorization-based 3D reconstruction from uncalibrated image sequences. Previous studies on structure and motion factorization are either based on simplified affine assumption or general perspective projection. The affine approximation is widely adopted due to its simplicity, whereas the extension to perspective model suffers from recovering projective depths. To fill the gap between simplicity of affine and accuracy of perspective model, we propose a quasi-perspective projection model for structure and motion recovery of rigid and nonrigid objects based on factorization framework. The novelty and contribution of this paper are as follows. Firstly, under the assumption that the camera is far away from the object with small lateral rotations, we prove that the imaging process can be modeled by quasi-perspective projection, which is more accurate than affine model from both geometrical error analysis and experimental studies. Secondly, we apply the model to establish a framework of rigid and nonrigid factorization under quasi-perspective assumption. Finally, we propose an Extended Cholesky Decomposition to recover the rotation part of the Euclidean upgrading matrix. We also prove that the last column of the upgrading matrix corresponds to a global scale and translation of the camera thus may be set freely. The proposed method is validated and evaluated extensively on synthetic and real image sequences and improved results over existing schemes are observed.