Trifocal Tensor Estimation Applied to Imperceptible Structured Light

This article presents the first results for the estimation of the trifocal tensor which defines the relations of correspondence between the points of three image planes. This estimation is achieved with a trinocular sensor and the technique of imperceptible structured light. From the trifocal tensor, the projective matrices can be estimated so that the projective reconstruction of the scene can be achieved; moreover, the transfer relations permit to easily solve the correspondence problem. In addition, it is shown that the tensor provides geometrical tools in order to self-calibrate the sensor.