Relative 3D positioning and 3D convex hull computation from a weakly calibrated stereo pair

The authors show some very recent results using the weak-calibration idea. Assuming that only the epipolar geometry is known of a pair of stereo images, encoded in the so-called fundamental matrix, it is shown that some useful three-dimensional information such as relative positions of points and planes and 3-D convex hulls can be computed. The notion of visibility is introduced, which allows deriving those properties. Results of both synthetic and real data are shown.<<ETX>>