Structure from motion using line correspondences
International Journal of Computer Vision
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International Journal of Computer Vision
Motion and Structure from Line Correspondences; Closed-Form Solution, Uniqueness, and Optimization
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Lines and Points in Three Views and the Trifocal Tensor
International Journal of Computer Vision
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IEEE Transactions on Pattern Analysis and Machine Intelligence
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ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume II - Volume II
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ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
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ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Trilinearity of three perspective views and its associated tensor
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A Nonlinear Method for Estimating the Projective Geometry of 3 Views
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
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ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part I
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ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part I
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Structure-from-motion using lines: representation, triangulation, and bundle adjustment
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EURASIP Journal on Applied Signal Processing
Structure-from-motion using lines: Representation, triangulation, and bundle adjustment
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Pattern Recognition Letters
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This paper investigates the linear degeneracies of projective structure estimation from line features across three views. We show that the rank of the linear system of equations for recovering the trilinear tensor of three views reduces to 23 (instead of 26) when the scene is a Linear Line Complex (a set of lines in space intersecting at a common line). The LLC situation is only linearly degenerate, and one can obtain a unique solution when the admissibility constraints of the tensor are accounted for. The line configuration described by an LLC, rather than being some obscure case, is in fact quite typical. It includes, as a particular example, the case of a camera moving down a hallway in an office environment or down an urban street. Furthermore, an LLC situation may occur as an artifact such as in direct estimation from spatio-temporal derivatives of image brightness. Therefore, an investigation into degeneracies and their remedy is important also in practice.