Sequential reconstruction of lines in projective space

This paper reconstructs structure of lines sequentially in projective space. Grassmann (Plucker) coordinates are used in order to represent the structure of 3D lines. Since intrinsic camera parameters are not known and are changed during motion, the reconstruction is only up to a projectivity. Line correspondences are obtained through tracking 2D line segments in a sequence of images. Initial camera matrices are computed using trilinear constraints and Grassmann coordinates are used to represent recovered 3D lines. In the sequence, the Grassmann coordinates are utilized to obtain camera matrices linearly, which are then refined through nonlinear optimization with a constraint among three views. After camera matrix is computed the Grassmann coordinates are updated through IEKF (iterated extended Kalman filter). Performance of the algorithm is shown by experimental results