Patent ID: 8401241

Claim:
A computer implemented method for estimating camera motion and structure reconstruction of a scene, the method comprising: receiving visual input data captured by a stereo pair of cameras, the stereo pair of cameras being calibrated and the visual input data comprising a plurality of image frames; detecting lines in the received visual input data, wherein a line is a digital representation of a line in a digital representation of an image; finding line correspondences between the detected lines in the visual input data; tracking the detected lines temporally across the plurality of the image frames; estimating the camera motion using the detected lines in the visual input data comprising: parameterizing the stereo pair of cameras and a corresponding stereo pair of cameras, the corresponding stereo pair of cameras being related by camera motion and the camera motion being defined by rotation parameter and translation parameter; obtaining back-projected image planes through the camera centers of the parameterized stereo pair and parameterized corresponding stereo pair, a back-projected image plane containing a detected line in the visual input data and its corresponding three-dimensional line; presenting camera motion to be estimated in terms of the rotation parameter and translation parameter and parameters associated with the stereo pair of the cameras; and determining the rotation parameter and translation parameter using the detected lines in the visual input data; and reconstructing three-dimensional lines from the estimated camera motion.