Matching and Reconstruction from Widely Separated Views

The objective of this work is to automatically estimate the trifocal tensor and feature correspondences over images triplets, under unrestricted camera motions and changes in internal parameters between views. To this end we extend a previous wide baseline 2-view algorithm to 3-views. The algorithm is based on establishing feature correspondences between views together with a homography which enables a viewpoint invariant affinity score. The input is the three images, and the output the trifocal tensor and image correspondences, which in turn facilitate a projective reconstruction of the cameras and scene.

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