3D Model Acquisition from Extended Image Sequences

A method for matching image primitives through a sequence is described, for the purpose of acquiring 3D geometric models. The method includes a novel robust estimator of the trifocal tensor, based on a minimum number of token correspondences across an image triplet; and a novel tracking algorithm in which corners and line segments are matched over image triplets in an integrated framework. The matching techniques are both robust (detecting and discarding mismatches) and fully automatic.

[1]  Robert C. Bolles,et al.  Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography , 1981, CACM.

[2]  John F. Canny,et al.  A Computational Approach to Edge Detection , 1986, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[3]  Peter J. Rousseeuw,et al.  Robust regression and outlier detection , 1987 .

[4]  Christopher G. Harris,et al.  3D positional integration from image sequences , 1988, Image Vis. Comput..

[5]  Christopher G. Harris,et al.  A Combined Corner and Edge Detector , 1988, Alvey Vision Conference.

[6]  Olivier Faugeras,et al.  3D Dynamic Scene Analysis , 1992 .

[7]  Olivier D. Faugeras,et al.  What can be seen in three dimensions with an uncalibrated stereo rig , 1992, ECCV.

[8]  Andrew Zisserman,et al.  Geometric invariance in computer vision , 1992 .

[9]  Philip H. S. Torr,et al.  Outlier detection and motion segmentation , 1993, Other Conferences.

[10]  Richard I. Hartley,et al.  Euclidean Reconstruction from Uncalibrated Views , 1993, Applications of Invariance in Computer Vision.

[11]  Long Quan,et al.  Relative 3D Reconstruction Using Multiple Uncalibrated Images , 1993, Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[12]  Paul A. Beardsley,et al.  Navigation using Affine Structure from Motion , 1994, ECCV.

[13]  Long Quan,et al.  Invariants of 6 Points from 3 Uncalibrated Images , 1994, ECCV.

[14]  Narendra Ahuja,et al.  Matching Point Features with Ordered Geometric, Rigidity, and Disparity Constraints , 1994, IEEE Trans. Pattern Anal. Mach. Intell..

[15]  Rachid Deriche,et al.  Robust Recovery of the Epipolar Geometry for an Uncalibrated Stereo Rig , 1994, ECCV.

[16]  Amnon Shashua,et al.  Trilinearity in Visual Recognition by Alignment , 1994, ECCV.

[17]  Martial Hebert,et al.  Weakly-calibrated stereo perception for rover navigation , 1995, Proceedings of IEEE International Conference on Computer Vision.

[18]  Olivier Faugeras,et al.  Projective, affine, and metric measurements from video sequences , 1995, Optics & Photonics.

[19]  Olivier D. Faugeras,et al.  On the geometry and algebra of the point and line correspondences between N images , 1995, Proceedings of IEEE International Conference on Computer Vision.