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Structure and Motion Estimation using Sparse Point and Line Correspondences in Multiple Affine Views
KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.
KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.ORCID iD: 0000-0002-9081-2170
1999 (English)Report (Other academic)
Abstract [en]

This paper addresses the problem of computing three-dimen\-sional structure and motion from an unknown rigid configuration of points and lines viewed by an affine projection model. An algebraic structure, analogous to the trilinear tensor for three perspective cameras, is defined for configurations of three centered affine cameras. This centered affine trifocal tensor contains 12 non-zero coefficients and involves linear relations between point correspondences and trilinear relations between line correspondences. It is shown how the affine trifocal tensor relates to the perspective trilinear tensor, and how three-dimensional motion can be computed from this tensor in a straightforward manner. A factorization approach is developed to handle point features and line features simultaneously in image sequences, and degenerate feature configurations are analysed. This theory is applied to a specific problem in human-computer interaction of capturing three-dimensional rotations from gestures of a human hand. This application to quantitative gesture analyses illustrates the usefulness of the affine trifocal tensor in a situation where sufficient information is not available to compute the perspective trilinear tensor, while the geometry requires point correspondences as well as line correspondences over at least three views.

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 1999. , 33 p.
Trita-NA-P, 99:13
Keyword [en]
affine trifocal tensor, trilinear tensor, affine, perspective, projection, structure, motion, factorization, tracking, point, blob, line, ridge, scale selection, human-computer interaction, computer vision.
National Category
Computer Vision and Robotics (Autonomous Systems) Computer Science
URN: urn:nbn:se:kth:diva-40157OAI: diva2:465018
QC 20111214Available from: 2011-12-14 Created: 2011-09-13 Last updated: 2011-12-14Bibliographically approved

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