Robust structure and motion from outlines of smooth curved surfaces

作     者：Furukawa, Y Sethi, A Ponce, J Kriegman, DJ 

作者机构：Univ Illinois Beckman Inst Urbana IL 61801 USA Univ Calif San Diego Dept Comp Sci & Engn La Jolla CA 92093 USA 

出 版 物：《IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE》 (IEEE Trans Pattern Anal Mach Intell)

年 卷 期：2006年第28卷第2期

页      面：302-315页

核心收录：

学科分类：0808[工学-电气工程] 08[工学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：US National Science Foundation, (IIS-0312438) Beckman Institute, California Institute of Technology 

主　　题：image processing and computer vision motion shape 

摘      要：This paper addresses the problem of estimating the motion of a camera as it observes the outline ( or apparent contour) of a solid bounded by a smooth surface in successive image frames. In this context, the surface points that project onto the outline of an object depend on the viewpoint and the only true correspondences between two outlines of the same object are the projections of frontier points where the viewing rays intersect in the tangent plane of the surface. In turn, the epipolar geometry is easily estimated once these correspondences have been identified. Given the apparent contours detected in an image sequence, a robust procedure based on RANSAC and a voting strategy is proposed to simultaneously estimate the camera configurations and a consistent set of frontier point projections by enforcing the redundancy of multiview epipolar geometry. The proposed approach is, in principle, applicable to orthographic, weak-perspective, and affine projection models. Experiments with nine real image sequences are presented for the orthographic projection case, including a quantitative comparison with the ground-truth data for the six data sets for which the latter information is available. Sample visual hulls have been computed from all image sequences for qualitative evaluation.