Computer graphics (2nd ed. in C): principles and practice
Computer graphics (2nd ed. in C): principles and practice
3D motion recovery via affine epipolar geometry
International Journal of Computer Vision
Sequential Updating of Projective and Affine Structure from Motion
International Journal of Computer Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
On Calibration and Reconstruction from Planar Curves
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part I
Stereo Autocalibration from One Plane
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part II
A unifying framework for structure and motion recovery from image sequences
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Fusing Visual and Inertial Sensing to Recover Robot Ego-motion
Journal of Robotic Systems
Recovering epipolar direction from two affine views of a planar object
Computer Vision and Image Understanding
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Most approaches to camera motion estimation from image sequences require matching the projections of at least 4 non-coplanar points in the scene. The case of points lying on a plane has only recently been addressed, using mainly projective cameras. We here study what can be recovered from two uncalibrated views of a planar contour under affine viewing conditions. We prove that the affine epipolar direction can be recovered provided camera motion is free of cyclorotation. The proposed method consists of two steps: 1) computing the affinity between two views by tracking a planar contour, and 2) recovering the epipolar direction by solving a second-order equation on the affinity parameters. Two sets of experiments were performed to evaluate the accuracy of the method. First, synthetic image streams were used to assess the sensitivity of the method to controlled changes in viewing conditions and to image noise. Then, the method was tested under more realistic conditions by using a robot arm to obtain calibrated image streams, which permit comparing our results to ground truth.