Title :
The 3D line motion matrix and alignment of line reconstructions
Author :
Bartoli, Ardien ; Sturm, Peter
Author_Institution :
INRIA Rhone-Alpes, St. Ismier, France
Abstract :
We study the problem of aligning two 3D line reconstructions expressed in Plucker line coordinates. We introduce the 6×6 3D line motion matrix that acts on Plucker coordinates in projective, affine or Euclidean space. We characterize its algebraic properties and its relation to the usual 4×4 point motion matrix, and propose various methods for estimating 3D motion from line correspondences, based on image-related and 3D cost functions. We assess the quality of the different estimation methods using simulated data and real images.
Keywords :
image reconstruction; motion estimation; 3D line reconstructions; Plucker line coordinates; algebraic properties; computer vision; line motion matrix; motion estimation; point motion matrix; Cameras; Computational modeling; Computer vision; Cost function; Image reconstruction; Image segmentation; Motion detection; Motion estimation; Tracking; Visual servoing;
Conference_Titel :
Computer Vision and Pattern Recognition, 2001. CVPR 2001. Proceedings of the 2001 IEEE Computer Society Conference on
Print_ISBN :
0-7695-1272-0
DOI :
10.1109/CVPR.2001.990488
