Determination of 3-D structure using lines viewed by a moving camera

✍ Scribed by Li Shigang; Saburo Tsuji; Masakazu Imai

• Book ID: 104591512
• Publisher: John Wiley and Sons
• Year: 1992
• Tongue: English
• Weight: 893 KB
• Volume: 23
• Category: Article
• ISSN: 0882-1666
• DOI: 10.1002/scj.4690230705

✦ Synopsis

Abstract

This paper describes a method to determine the three‐dimensional (3‐D) structure of a room environment using lines viewed by a moving camera, assuming that the speed of the camera movement can be measured. The rotational components of the camera are estimated from the movement of the vanishing point formed by horizontal lines in a recorded image. Inclined lines in the image are eliminated from it using the difference in the properties of motions of the inclined lines and the horizontal lines in the image. The locus of the movement of the camera and the 3‐D structure of the environment are determined based on the obtained rotational components of the camera. The accuracy of this method is improved by applying the Kalman filters to the large amount of data involved when the camera rotation and the 3‐D positions of objects in the environment are calculated.