Detecting critical configurations for Euclidean 3D reconstruction by analyzing the scaled measurement matrix

Ping Li; Rene Klein Gunnewiek; Peter H. N. de With

doi:10.1117/12.863318

4 August 2010 Detecting critical configurations for Euclidean 3D reconstruction by analyzing the scaled measurement matrix

Ping Li, Rene Klein Gunnewiek, Peter H. N. de With

Author Affiliations +

Proceedings Volume 7744, Visual Communications and Image Processing 2010; 77441Z (2010) https://doi.org/10.1117/12.863318
Event: Visual Communications and Image Processing 2010, 2010, Huangshan, China

Abstract

3D reconstruction is ambiguous under so-called critical motions or critical surfaces. This paper proposes an algorithm to detect a few critical configurations where Euclidean reconstruction degenerates. Assuming that the focal lengths are the only unknown intrinsic parameters, the following critical configurations are detected: (1) coplanar 3D points, (2) pure rotation; (3) rotation around two camera centers; (4) presence of excessive noise and outliers in the measurements. The configurations in Cases (1), (2) and (4) will affect the rank of the scaled measurement matrix (SMM). The number of camera centers in Case (3) will affect the number of independent rows of the SMM. By examining the rankness and the number of independent rows of the SMM, we are able to detect the above-mentioned critical configurations. Experimental results on both synthetic and real data demonstrate the effectiveness of the proposed algorithm on detecting the critical situations for factorizationbased 3D reconstruction.

Citation Download Citation

Ping Li, Rene Klein Gunnewiek, and Peter H. N. de With "Detecting critical configurations for Euclidean 3D reconstruction by analyzing the scaled measurement matrix", Proc. SPIE 7744, Visual Communications and Image Processing 2010, 77441Z (4 August 2010); https://doi.org/10.1117/12.863318

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