We address the problem of camera motion and 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 Plucker coordinates to represent the lines, we propose a maximum likelihood algorithm, relying on linearising the Plucker constraint, and on a Plucker correction procedure to compute the closest Plucker coordinates to a given 6-vector. Second, we consider the bundle adjustment problem. 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 4 parameters, within an unconstrained nonlinear optimizer. We compare our algorithms to existing ones on simulated and real data.
Multiple-view structure and motion from line correspondences
2003-01-01
401516 byte
Conference paper
Electronic Resource
English
Multiple-View Structure and Motion from Line Correspondences
British Library Conference Proceedings | 2003
|Wide-Baseline Multiple-View Correspondences
British Library Conference Proceedings | 2003
|Wide-baseline multiple-view correspondences
IEEE | 2003
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