Structure and Motion from Straight Line
Segments
J.M.M. Montiel, J.D. Tardós, and L. Montano
{josemari,tardos,montano}@posta.unizar.es
Dpto. Informática e Ingeniería de Sistemas Centro Politécnico Superior.
University of Zaragoza, María de Luna 3, E50015 Zaragoza Spain,
Tel. 34 (976) 76 19 75, Fax. 34 (976) 76 18 61
http://www.cps.unizar.es/deps/DIIS/robot/
Abstract
A method to determine both the camera location and scene structure from image straight segment correspondences is presented. The proposed method considers the finite segment length in order to use stronger constraints than do those that use the infinite line that supports the image segment. The constraints between image segments involve a weak pairing between image segment midpoints. This allows deviations of the midpoint along the segment direction. Experimental results are presented of structure and motion computations from the image straight line segmentmatching using two real images.
Key words: structure and motion, straight segments.