In this papec we address the problem of structure and motion recovery from two views of a scene containing planes, i.e. sets of coplanar points. Most of the existing works do only exploit this constraint in a sub-optimal mannel: We propose to parameterize the structure of such scenes with planes and points on planes and derive the MLE (Maximum Likelihood Estimator) using a minimal parameterization based on 2 0 entities. The result is the estimation of camera motion and 3 0 structure in projective space, that minimizes reprojection error; while satisfying the piecewise planarity. We propose a quasi-linear estimator that provides reliable initialization values for plane equations. Experimental results show that the reconstruction is of clearly superior quality compared to traditional methods based only on points, even i f the scene is not perfectly piecewise planar.
The method in REF recovers structure-from-motion from two views of a piecewise planar scene.
Projective structure and motion from two views of a piecewise planar scene
Proceedings Eighth IEEE International Conference on Computer Vision. ICCV 2001
Proceedings Eighth IEEE International Conference on Computer Vision. ICCV 2001
Computer Science