The incremental rigidity scheme for structure from motion: The line-based formulation

  • Daniel Dubé
  • Amar Mitiche
Part of the Lecture Notes in Computer Science book series (LNCS, volume 427)


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.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. [1]
    S. Ullman, “Maximizing Rigidity: The Incremental Recovery of 3-D Structure From Rigid And Nonrigid Motion,” Perception, vol. 13, pp. 255–274, 1984.Google Scholar
  2. [2]
    A. Mitiche, O. Faugeras, J.K. Aggarwal, “Counting Straight Lines,” Computer Vision, Graphics, and Image Processing, vol. 47, pp. 353–360, 1989.Google Scholar
  3. [3]
    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.Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1990

Authors and Affiliations

  • Daniel Dubé
    • 1
  • Amar Mitiche
    • 1
  1. 1.INRS TélécommunicationsCanada

Personalised recommendations