Abstract
This paper presents an extension to lines of Ullman's incremental rigidity scheme, originally formulated for a set of points. The formulation is based on the angular and distance invariance of rigid configurations of lines. It is shown that the line structure can be recovered incrementally from its motion.
This work was supported in part by the Natural Sciences and Engineering Research Council of Canada under grant NSERC-A4234
D.Dubé is now T/Associate Director — Network Systems Research, Bell Canada
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References
S. Ullman, “Maximizing Rigidity: The Incremental Recovery of 3-D Structure From Rigid And Nonrigid Motion,” Perception, vol. 13, pp. 255–274, 1984.
A. Mitiche, O. Faugeras, J.K. Aggarwal, “Counting Straight Lines,” Computer Vision, Graphics, and Image Processing, vol. 47, pp. 353–360, 1989.
D.Dubé, “Récupération de la structure 3-D de droites en mouvement selon une méthode d'inférence incrémentielle,” Master's Thesis, INRS-Télécommunications, August 1989.
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© 1990 Springer-Verlag Berlin Heidelberg
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Dubé, D., Mitiche, A. (1990). The incremental rigidity scheme for structure from motion: The line-based formulation. In: Faugeras, O. (eds) Computer Vision — ECCV 90. ECCV 1990. Lecture Notes in Computer Science, vol 427. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0014875
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DOI: https://doi.org/10.1007/BFb0014875
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