Reconstruction from affine cameras using closure constraints

This paper outlines a new method that makes reconstruction from an image sequence taken by affine cameras. The method is based on the so called closure constraints that link the camera matrices to the different affine quasi-tensors. This method can easily handle missing data and not only points, but also lines and conics are used to constrain the reconstruction. The method works in three steps: 1) the second or third order affine quasi-tensors are estimated from corresponding points, lines and conics in two or three images; 2) all available quasi-tensor components are used to calculate the camera matrices using the closure constraints; and 3) the reconstruction is obtained by intersection. When using the second order quasi-tensors, it is sufficient to estimate the quasi-tensors between images i and i+1 and between images i and i+2. In the case of the third order quasi-tensors, it is sufficient to use every successive triplets of images. Finally, the method is illustrated on real data