Sensitivity Analysis of Projective Geometry 3D Reconstruction

One of the most powerful methods for 3D scene reconstruction without cam­era calibration is based on Projective Geometry (Coxeter, 1994; Faugeras, 1992; Mohr and Arbogast, 1991) This method is very elegant and relies on the solution of a series of non-linear equations that allow the determination of the 3D coordinates of a point given the identity and 3D position of at least 6 reference points relying on two intersecting planes. The method is an ideal testbed for application of the variance propagation methodology for performance evaluation proposed by Haralick (1994).