Estimation of 3D structure and motion from image corners

Abstract This paper deals with motion estimation from image corner correspondences in two cases: the orthogonal corner and the general corner with known space angles. The contribution of the paper is in three folds: First, the three-dimensional structure of a corner is recovered easily from its image by introducing a new coordinate system; second, it is shown that the one corner and two points correspondences over two views are sufficient to uniquely determine the motion, i.e., the rotation and translation; third, experiments using both simulated data and real images are conducted, which present good results.

[1]  Chunhong Pan,et al.  3D motion estimation of human by genetic algorithm , 2000, Proceedings 15th International Conference on Pattern Recognition. ICPR-2000.

[2]  Bernd Girod,et al.  An image-domain cost function for 3-D rigid body motion estimation , 2000, Proceedings 15th International Conference on Pattern Recognition. ICPR-2000.

[3]  Thomas S. Huang,et al.  Estimation of rigid body motion using straight line correspondences , 1986, Comput. Vis. Graph. Image Process..

[4]  Stephen T. Barnard,et al.  Interpreting Perspective Image , 1983, Artif. Intell..

[5]  Olivier D. Faugeras,et al.  Determination of Camera Location from 2-D to 3-D Line and Point Correspondences , 1990, IEEE Trans. Pattern Anal. Mach. Intell..

[6]  Olivier D. Faugeras,et al.  Feed-forward recovery of motion and structure from a sequence of 2D-lines matches , 1990, [1990] Proceedings Third International Conference on Computer Vision.

[7]  Michael G. Strintzis,et al.  Robust estimation of rigid body 3-D motion parameters from point correspondences , 1999, 1999 IEEE International Conference on Acoustics, Speech, and Signal Processing. Proceedings. ICASSP99 (Cat. No.99CH36258).

[8]  King-Sun Fu,et al.  Handbook of pattern recognition and image processing , 1986 .

[9]  Allen R. Hanson,et al.  Determining correspondences and rigid motion of 3-D point sets with missing data , 1996, Proceedings CVPR IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[10]  David J. Kriegman,et al.  Structure and Motion from Line Segments in Multiple Images , 1995, IEEE Trans. Pattern Anal. Mach. Intell..

[11]  Thomas S. Huang,et al.  A linear algorithm for motion estimation using straight line correspondences , 1988, Comput. Vis. Graph. Image Process..

[12]  Michael G. Strintzis,et al.  Rigid 3-D motion estimation using neural networks and initially estimated 2-D motion data , 2000, IEEE Trans. Circuits Syst. Video Technol..

[13]  Takeo Kanade,et al.  Recovery of the Three-Dimensional Shape of an Object from a Single View , 1981, Artif. Intell..

[14]  Radu Horaud,et al.  Structure and motion from two uncalibrated views using points on planes , 2001, Proceedings Third International Conference on 3-D Digital Imaging and Modeling.

[15]  Kenichi Kanatani,et al.  Unbiased Estimation and Statistical Analysis of 3-D Rigid Motion from Two Views , 1993, IEEE Trans. Pattern Anal. Mach. Intell..

[16]  Thomas S. Huang,et al.  Motion and structure from feature correspondences: a review , 1994, Proc. IEEE.

[17]  Olivier D. Faugeras,et al.  Determination of camera location from 2D to 3D line and point correspondences , 1988, Proceedings CVPR '88: The Computer Society Conference on Computer Vision and Pattern Recognition.

[18]  A. Macworth.  Interpreting pictures of polyhedral scenes , 1973 .

[19]  Zhengyou Zhang,et al.  Estimation of Displacements from Two 3-D Frames Obtained From Stereo , 1991, IEEE Trans. Pattern Anal. Mach. Intell..

[20]  Thomas S. Huang,et al.  Rigid object motion estimation from intensity images using straight-line correspondences , 1990 .