Abstract
This paper proposes a method for recovery of projective shape and motion from multiple images by factorization of a matrix containing the images of all scene points. Compared to previous methods, this method can handle perspective views and occlusions jointly. The projective depths of image points are estimated by the method of Sturm & Triggs [11] using epipolar geometry. Occlusions are solved by the extension of the method by Jacobs [8] for filling of missing data. This extension can exploit the geometry of perspective camera so that both points with known and unknown projective depths are used. Many ways of combining the two methods exist, and therefore several of them have been examined and the one with the best results is presented. The new method gives accurate results in practical situations, as demonstrated here with a series of experiments on laboratory and outdoor image sets. It becomes clear that the method is particularly suited for wide base-line multiple view stereo.
This research was supported by the grants GACR 102/00/1679, MSMT KONTAKT 2001/09 and ME412, and MSM 212300013. Andrew Zisserman from the University of Oxford kindly provided the Dinosaur data, Marc Pollefeys from K.U.Leuven the Temple data, and Tomáš Werner from the University of Oxford provided the routine for the bundle adjustment.
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Martinec, D., Pajdla, T. (2002). Structure from Many Perspective Images with Occlusions. In: Heyden, A., Sparr, G., Nielsen, M., Johansen, P. (eds) Computer Vision — ECCV 2002. ECCV 2002. Lecture Notes in Computer Science, vol 2351. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-47967-8_24
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DOI: https://doi.org/10.1007/3-540-47967-8_24
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