Reconstruction of General Curves, Using Factorization and Bundle Adjustment

  • Authors:
  • Rikard Berthilsson;Kalle Åström;Anders Heyden

  • Affiliations:
  • Centre for Mathematical Sciences, Lund University, Box 118, 221 00 Lund, Sweden. rikard@maths.lth.se;Centre for Mathematical Sciences, Lund University, Box 118, 221 00 Lund, Sweden. kalle@maths.lth.se;Centre for Mathematical Sciences, Lund University, Box 118, 221 00 Lund, Sweden. andersp@maths.lth.se

  • Venue:
  • International Journal of Computer Vision
  • Year:
  • 2001

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Abstract

In this paper, we extend the notion of affine shape, introduced by Sparr, from finite point sets to curves. The extension makes it possible to reconstruct 3D-curves up to projective transformations, from a number of their 2D-projections. We also extend the bundle adjustment technique from point features to curves.The first step of the curve reconstruction algorithm is based on affine shape. It is independent of choice of coordinates, is robust, does not rely on any preselected parameters and works for an arbitrary number of images. In particular this means that, except for a small set of curves (e.g. a moving line), a solution is given to the aperture problem of finding point correspondences between curves. The second step takes advantage of any knowledge of measurement errors in the images. This is possible by extending the bundle adjustment technique to curves.Finally, experiments are performed on both synthetic and real data to show the performance and applicability of the algorithm.