Resolution of the Bas-relief ambiguity in structure-from-motion under orthographic projection
نویسنده
چکیده
Under orthographic projection, two views of a rigid moving object are insufficient to uniquely determine the structure and motion of the object, due to the existence of the bas-relief ambiguity. Resolution of this ambiguity relies upon either prior information about the motion of the object, or else further views of the object. Two novel algorithms to resolve the bas-relief ambiguity are developed; they are well-formulated in that they minimise image-plane error, and are shown working on sequences of real images.
منابع مشابه
A Multi { frame Structure { from { Motion Algorithm under
We present a fast, robust algorithm for multi{frame structure from motion from point features which works for general motion and large perspective eeects. Experimental results on synthetic and real sequences show that the algorithm gives results essentially as accurate as the maximum likelihood estimate (MLE) in a couple of seconds on an IRIS 10000 (for 15 images of 30 points). The results are ...
متن کاملShape Ambiguities in Structure from Motion
This technical report examines the fundamental ambiguities and uncertainties inherent in recovering structure from motion. By examining the eigenvectors associated with null or small eigenvalues of the Hessian matrix, we can quantify the exact nature of these ambiguities and predict how they affect the accuracy of the reconstructed shape. Our results for orthographic cameras show that the bas-r...
متن کاملA New Structure--From--Motion Ambiguity
We demonstrate the existence of a new approximate ambiguity in structure from motion which occurs as generically as the bas{relief ambiguity but applies more strongly to scenes with larger depth variation. It occurs for moderate translations and eld of view (as for the bas{relief ambiguity) and applies to multi{frame, nite{motion sequences where the camera moves roughly along a line, as well as...
متن کاملDynamic Rigid Motion Estimation from Weak Perspective
Weak-perspective” represents a simplified projection model that approximates the imaging process when the scene is viewed under a small viewing angle and its depth relief is small relative to its distance from the viewer. We study how to generate dynamic models for estimating rigid 3-0 motion from weak-perspective. A crucial feature in dynamic visual motion estimation is to decouple structure f...
متن کاملThe KGBR Viewpoint-Lighting Ambiguity and its Resolution by Generic Constraints
We describe a novel viewpoint-lighting ambiguity which we call the KGBR. This ambiguity assumes orthographic projection or an affine camera, and uses Lambertian reflectance functions including cast/attached shadows and multiple light sources. A KGBR transform alters the geometry (by a three-dimensional affine transformation) and albedo properties of objects. If two objects are related by a KGBR...
متن کامل