International Journal of Computer Vision

, Volume 49, Issue 2, pp 117–141

Linear Multi View Reconstruction and Camera Recovery Using a Reference Plane

  • Carsten Rother
  • Stefan Carlsson

DOI: 10.1023/A:1020189404787

Cite this article as:
Rother, C. & Carlsson, S. International Journal of Computer Vision (2002) 49: 117. doi:10.1023/A:1020189404787


This paper presents a linear algorithm for simultaneous computation of 3D points and camera positions from multiple perspective views based on having a reference plane visible in all views. The reconstruction and camera recovery is achieved in a single step by finding the null-space of a matrix built from image data using Singular Value Decomposition. Contrary to factorization algorithms this approach does not need to have all points visible in all views. This paper investigates two reference plane configurations: Finite reference planes defined by four coplanar points and infinite reference planes defined by vanishing points. A further contribution of this paper is the study of critical configurations for configurations with four coplanar points. By simultaneously reconstructing points and views we can exploit the numerical stabilizing effect of having wide spread cameras with large mutual baselines. This is demonstrated by reconstructing the outsideand inside (courtyard) of a building on the basis of 35 views in one single Singular Value Decomposition.

structure from motion projective reconstruction multiple views missing data duality critical configurations reference plane planar parallax 

Copyright information

© Kluwer Academic Publishers 2002

Authors and Affiliations

  • Carsten Rother
    • 1
  • Stefan Carlsson
    • 1
  1. 1.Department of Numerical Analysis and Computer Science, KTHComputational Vision and Active Perception Laboratory (CVAP)StockholmSweden

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