An efficient solution to 3D reconstruction from two uncalibrated views under SV constraint

In this paper, an efficient solution is proposed to the problem of 3D reconstruction from two uncalibrated views under Standard Vergence (SV) constraint. This solution consists of three core steps: firstly, set up the camera configuration according to SV constraint; secondly, estimate camera´s focal length and relative pose between two views; lastly, reconstruct the scene optimally by minimizing reprojection error. By analysing the degenerated camera motion under SV constraint, a novel method for efficiently estimating camera´s focal length and relative pose is proposed. Both synthetic and real data experiments showed that this new method could provide close estimation, which resulted in fast convergence in the most time-consuming step of final optimization. The main contribution of this paper is that it is the first time to introduce SV constraint into 3D reconstruction problem, and an efficient solution which utilizes this constraint is proposed.