Collinearity and Coplanarity Constraints for Structure from Motion

  • Gang Liu
  • Reinhard Klette
  • Bodo Rosenhahn
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4319)


Structure from motion (SfM) comprises techniques for estimating 3D structures from uncalibrated 2D image sequences. This work focuses on two contributions: Firstly, a stability analysis is performed and the error propagation of image noise is studied. Secondly, to stabilize SfM, we present two optimization schemes by using a priori knowledge about collinearity or coplanarity of feature points in the scene.


Projection Matrix Fundamental Matrix Translation Vector Camera Position Rotation Matrice 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Gang Liu
    • 1
  • Reinhard Klette
    • 1
  • Bodo Rosenhahn
    • 2
  1. 1.Department of Computer ScienceThe University of AucklandNew Zealand
  2. 2.Max Planck InstituteSaarbrückenGermany

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