Projective reconstruction from N views having one view in common

Abstract

Projective reconstruction recovers projective coordinates of 3D scene points from their several projections in 2D images. We introduce a method for the projective reconstruction based on concatenation of trifocal constraints around a reference view. This configuration simplifies computations significantly. The method uses only linear estimates which stay “close” to image data. The method requires correspondences only across triplets of views. However, it is not symmetrical with respect to views. The reference view plays a special role. The method can be viewed as a generalization of Hartley’s algorithm [11], or as a particular application of Triggs’ [21] closure relations.