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A new method has been developed for recovering the three dimensional
structure of a scene composed of straight line segments using the
image data obtained from a moving camera. The recovery algorithm is
formulated in terms of an objective function which measures the total
squared distance in the image plane between the observed edge segments
and the projections (perspective) of the reconstructed lines. This
objective function is minimized with respect to the line parameters
and the camera positions to obtain an estimate for the structure of
the scene. The effectiveness of this approach has been demonstrated
quantitatively through extensive simulations and qualitatively with
actual image sequences. The implementation is publicly
available.
Here are three examples of applying the structure from motion algorithm:
Click on the figure for more information.
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