Uncalibrated reconstruction: an adaptation to structured light vision

Euclidean reconstruction from two uncalibrated stereoscopic views is achievable from the knowledge of geometrical constraints about the environment. Unfortunately, these constraints may be quite di2cult to obtain. In this paper, we propose an approach based on structured lighting, which has the advantage of providing geometrical constraints independent of the scene geometry. Moreover, the use of structured light provides a unique solution to the tricky correspondence problem present in stereovision. The projection matrices are %rst computed by using a canonical representation, and a projective reconstruction is performed. Then, several constraints are generated from the image analysis and the projective reconstruction is upgraded into an Euclidean one—as we will demonstrate, it is assumed that the sensor behaviour is a2ne without loss of generality so that the constraints generation is simpli%ed. The method provides our sensor with adaptive capabilities and permits to be used in the measurement of moving scenes such as dynamic visual inspection or mobile robot navigation. Experimental results obtained from both simulated and real data are presented. ? 2003 Pattern Recognition Society. Published by Elsevier Science Ltd. All rights reserved.