Shape and motion from image streams under orthography: a factorization method
International Journal of Computer Vision
In Defense of the Eight-Point Algorithm
IEEE Transactions on Pattern Analysis and Machine Intelligence
Affine Structure and Motion from Points, Lines and Conics
International Journal of Computer Vision
Multiple view geometry in computer vision
Multiple view geometry in computer vision
The Geometry of Multiple Images: The Laws That Govern The Formation of Images of A Scene and Some of Their Applications
Parallax Geometry of Pairs of Points for 3D Scene Analysis
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume I - Volume I
A Factorization Based Algorithm for Multi-Image Projective Structure and Motion
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume II - Volume II
Automatic Camera Recovery for Closed or Open Image Sequences
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
Multi Viewpoint Stereo from Uncalibrated Video Sequences
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
A Six Point Solution for Structure and Motion
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part I
Plane+Parallax, Tensors and Factorization
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part I
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Factorization Methods for Projective Structure and Motion
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Multiframe structure from motion in perspective
VSR '95 Proceedings of the IEEE Workshop on Representation of Visual Scenes
Surviving Dominant Planes in Uncalibrated Structure and Motion Recovery
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part II
Recovering Non-rigid 3D Shape Using a Plane+Parallax Approach
AMDO '02 Proceedings of the Second International Workshop on Articulated Motion and Deformable Objects
Consistent multi-view reconstruction from epipolar geometries with outliers
SCIA'03 Proceedings of the 13th Scandinavian conference on Image analysis
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General multi view reconstruction from affine or projective cameras has so far been solved most efficiently using methods of factorizing image data matrices into camera and scene parameters. This can be done directly for affine cameras [18] and after computing epipolar geometry for projective cameras [17]. A notorious problem has been the fact that these factorization methods require all points to be visible in all views. This paper presents alternative algorithms for general affine and projective views of multiple points where a) points and camera centers are computed as the nullspace of one linear system constructed from all the image data b) only three points have to be visible in all views. The latter requirement increases the flexibility and usefulness of 3D reconstruction from multiple views. In the case of projective views and unknown epipolar geometry, an additional algorithm is presented which initially assumes affine views and compensates iteratively for the perspective effects. In this paper affine cameras are represented in a projective framework which is novel and leads to a unified treatment of parallel and perspective projection in a single framework. The experiments cover a wide range of different camera motions and compare the presented algorithms to factorization methods, including approaches which handle missing data.