Euclidean Structure Recovery through Articulated

This paper derives a direct constraint satissed by points on the axis of articulation of a compound object. A minimum of three views of the articulated object in motion are required to recover the projective position of the articulation axis. No camera calibration is required. The method given here is a signiicant improvement on a previous method, doing away entirely with the need to use the fundamental matrix in building an intermediate constraint 19]. This paper also extends the Euclidean structure from uncalibrated stereo result of Faugeras 3] to use the second link in an articulated system eeectively as a virtual second camera. Euclidean structure may then be recovered by observing an articulated object in motion with a single uncalibrated camera.