Artificial Intelligence - Special volume on computer vision
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Multiview Constraints on Homographies
IEEE Transactions on Pattern Analysis and Machine Intelligence
Motion and Structure from Image Sequences
Motion and Structure from Image Sequences
Linear Multi View Reconstruction and Camera Recovery Using a Reference Plane
International Journal of Computer Vision
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Multiple homographies with omnidirectional vision for robot homing
Robotics and Autonomous Systems
Computing homographies from three lines or points in an image pair
ICIAP'05 Proceedings of the 13th international conference on Image Analysis and Processing
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This paper addresses the computation of motion between two views when 3D structure is unknown but planar surfaces can be assumed. We use points which are automatically matched in two steps. The first one is based on image parameters and the second one is based on the geometric constraint introduced by computed homographies. When two or more planes are observed, corresponding homographies can be computed and they can be used to obtain the fundamental matrix, which gives constraints for the whole scene. The computation of the camera motion can be carried out from a homography or from the fundamental matrix. Experimental results prove this approach to be robust and functional for real applications in man made environments.