Towards dynamic vision

The use of a moving camera in stereo vision is validated, and the advantages and limitations of such an approach are demonstrated. The basic principle of 3D perception by a moving camera is presented and applied to the reconstruction of a 3D polyhedral scene. The problem is split into the following subproblems: (a) how to approximate an edge image by a set of 2D line segments; (b) how to match the set of 2D line segments within a sequence of images in order to obtain the dynamic parameters of 2D line segments; (c) how to rebuild the 3D line segments from the knowledge about the camera motion and the dynamic parameters of 2D line segments; and (d) how to interpret the set of 3D line segments in order to obtain a polyhedral representation of a scene