A linear algorithm for motion estimation using straight line correspondences
Computer Vision, Graphics, and Image Processing
Structure from motion using line correspondences
International Journal of Computer Vision
Motion and Structure from Line Correspondences; Closed-Form Solution, Uniqueness, and Optimization
IEEE Transactions on Pattern Analysis and Machine Intelligence
Lines and Points in Three Views and the Trifocal Tensor
International Journal of Computer Vision
Affine Structure from Line Correspondences With Uncalibrated Affine Cameras
IEEE Transactions on Pattern Analysis and Machine Intelligence
On Degeneracy of Linear Reconstruction From Three Views: Linear Line Complex and Applications
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Statistical Optimization for Geometric Computation: Theory and Practice
Statistical Optimization for Geometric Computation: Theory and Practice
Structure and Motion from Line Segments in Multiple Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Automatic Camera Recovery for Closed or Open Image Sequences
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
On the Non-linear Optimization of Projective Motion Using Minimal Parameters
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part II
Factorization Methods for Projective Structure and Motion
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
On the geometry and algebra of the point and line correspondences between N images
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Sequential Reconstruction of Lines in Projective Space
ICPR '96 Proceedings of the 1996 International Conference on Pattern Recognition (ICPR '96) Volume I - Volume 7270
The 3D Line Motion Matrix and Alignment of Line Reconstructions
International Journal of Computer Vision
Line reconstruction from many perspective images by factorization
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Consistency of robust estimators in multi-structural visual data segmentation
Pattern Recognition
Minimal representations for uncertainty and estimation in projective spaces
ACCV'10 Proceedings of the 10th Asian conference on Computer vision - Volume Part II
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We address the problem of camera motion and 3D structure reconstruction from line correspondences across multiple views, from initialization to final bundle adjustment. One of the main difficulties when dealing with line features is their algebraic representation. First, we consider the triangulation problem. Based on Plücker coordinates to represent the 3D lines, we propose a maximum likelihood algorithm, relying on linearizing the Plücker constraint and on a Plücker correction procedure, computing the closest Plücker coordinates to a given 6-vector. Second, we consider the bundle adjustment problem, which is essentially a nonlinear optimization process on camera motion and 3D line parameters. Previous overparameterizations of 3D lines induce gauge freedoms and/or internal consistency constraints. We propose the orthonormal representation, which allows handy nonlinear optimization of 3D lines using the minimum four parameters with an unconstrained optimization engine. We compare our algorithms to existing ones on simulated and real data. Results show that our triangulation algorithm outperforms standard linear and bias-corrected quasi-linear algorithms, and that bundle adjustment using our orthonormal representation yields results similar to the standard maximum likelihood trifocal tensor algorithm, while being usable for any number of views.