Abstract

The invention is embodied in a method for reconstructing 3-dimensional geometry by computing 3-dimensional points on an object or a scene including many objects visible in images taken from different views of the object or scene. The method includes identifying at least one set of initial pixels visible in both the views lying on a generally planar surface on the object, computing from the set of initial pixels an estimated homography between the views, defining at least an additional pixel on the one surface in one of the images and computing from the estimated homography a corresponding additional pixel in the other view, computing an optimal homography and an epipole from the initial and additional pixels (including at least some points not on the planar surface), and computing from the homography and the epipole 3-dimensional locations of points on the object by triangulation between the views of corresponding ones of the pixels. Each of the initial pixels in one of the views corresponds to one of the initial pixels in the other of the views and both correspond to a point on the object.

Other References

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