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Projective structure using a five point basis
Select the projection center of the first camera as the coordinate origin
and that of the second camera as the unit point
.
Complete the 3D basis by choosing 3 other visible 3D points
,
and
such that no four of the five points are coplanar.
Let
,
,
and
,
,
be the image projections of
,
and
in the two images.
Make a projective transformation of each image such that these 3 points and the epipoles form a standard basis
Also fix the 3D coordinates as
It follows that
and
Once
's are known finding the projective structure of the other points is straightforward.
Localization errors in any of the points affect subsequent computation
Next:
Robust computation of projective
Up:
Structure determination
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Overview
Subhashis Banerjee 2008-01-21