The Characterization of Sufficient Visibility in the Direct Reference Plane Approach for Multiple Views with Missing Data

Rother and Carlsson introduced the Direct Reference Plane method for obtaining a projective reconstruction from a multi-view system, presuming the availability of a planar reference quadrangle in each view. In this method feature points and camera centres are obtained simultaneously by solving a system of homogeneous linear equations. Each feature-camera visibility pair corresponds to two equations in this system. In this paper we derive a count criterion for characterizing sufficient visibility, yielding a system of linearly independent equations that “determines” feature points and camera centres. Finally we discuss some principles to extend the configuration of feature points and camera centres while maintaining sufficient visibility