On the localization of straight lines in 3D space from single 2D images
Résumé
The reconstruction of 3D scenes constituted by straight lines can find many applications both in Computer vision and in Mobile robotics. Most of the approaches to this problem involve either stereo-vision or the analysis of a sequence of images taken from different viewpoints: in both cases, the solution of the correspondence problem is required. This paper studies the localization of straight lines in 3D space from single 2D images, acquired by a catadioptric camera. In general, using a noncentral camera, the viewing rays starting from the points of a straight line constitute a non-planar surface: if this non-planar surface only contains one straight line, other than the viewing rays, then the straight line can univocally be localized. Some conditions for the univocal localization of straight lines are derived. A simple technique for the straight line localization is presented, and some preliminary experimental results are discussed.
Mots clés
image sequences
stereo image processing
2D images
3D scene reconstruction
3D space
catadioptric camera
image sequence
mobile robotics
nonplanar surface
stereo vision
straight line localization
Application software
Cameras
Computer vision
Image analysis
Image reconstruction
Layout
Mobile computing
Mobile robots
Orbital robotics
Robot vision systems
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