Affine Structure from Line Correspondences With Uncalibrated Affine Cameras
IEEE Transactions on Pattern Analysis and Machine Intelligence
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Duality of reconstruction and positioning from projective views
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In this paper we investigate the geometry and algebra ofmultiple one-dimensional projections of a two-dimensionalenvironment. This is relevant for one-dimensional cameras, e.g. asused in certain autonomous guided vehicles. It is also relevant forunderstanding the projection of lines in ordinary vision. A thirdapplication is on ordinary vision of vehicles undergoing so calledplanar motion. The structure and motion problem for such cameras isstudied and the two possible minimal cases is solved. The techniqueof solving these questions reveal interesting ambiguities. It isshown that for each solution with three images there is an ambiguoussolution. It is also shown that for each solution for four pointsthere is an ambiguous solution. The connection between these twodifferent types of ambiguities is also given. Although the paperdeals with calibrated cameras, it is shown that similar results existfor uncalibrated cameras.