Constrained Structure and Motion From Multiple Uncalibrated Views of a Piecewise Planar Scene

摘要

This paper is about multi-view modeling of a rigid scene. We merge the traditional approaches of reconstructing image-extractable features and of modeling via user-provided geometry. We use features to obtain a first guess for structure and motion, fit geometric primitives, correct the structure so that reconstructed features lie exactly on geometric primitives and optimize both structure and motion in a bundle adjustment manner while enforcing the underlying constraints. We specialize this general scheme to the point features and the plane geometric primitives. The underlying geometric relationships are described by multi-coplanarity constraints. We propose a minimal parameterization of the structure enforcing these constraints and use it to devise the corresponding maximum likelihood estimator. The recovered primitives are then textured from the input images. The result is an accurate and photorealistic model.