Structure and motion from line correspondences: Representation,projection, initialization and sparse bundle adjustment |
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| Affiliation: | 1. Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Changsha, China;2. Institute of Computer Science, University of Kiel, 24098 Kiel, Germany;1. Department of Electrical Engineering, National Sun Yat-sen University, Kaohsiung 804, Taiwan;2. Graduate School of Engineering Science and Technology-Doctoral Program, National Yunlin University of Science and Technology, Yunlin 640, Taiwan;3. Department of Computer Science and Information Engineering, National Yunlin University of Science and Technology, Yunlin 640, Taiwan;4. Department of Electrical Engineering, National Tsing Hua University, Hsinchu 300, Taiwan;5. Institute of Communications Engineering, National Tsing Hua University, Hsinchu 300, Taiwan;1. Department of Electronic Engineering, Shanghai Jiao Tong University, 800 DongChuan Road, Shanghai 200240, China;2. School of Information Engineering, Zhengzhou University, 100 KeXue Road, Zhengzhou 450001, China;3. Wuhan University, 483 Bayi Road, Wuhan 430072, China;4. Department of Computer Science and Engineering, Shanghai Jiao Tong University, 800 DongChuan Road, Shanghai 200240, China;5. Department of Computer Science, Nanjing University, 163 Xianlin Road, Nanjing 210023, China |
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| Abstract: | We address the problem of structure and motion from line correspondences, which ranges from the representation of lines, their projections and the initialization procedure to the final adjustment. The Cayley representation of spatial lines is developed, which is a nonlinear minimal parametrization circumventing the tiresome Plücker constraint. The relationships between different line representations are given. Based on these relationships, we derive a novel line projection function which is consistent with the previous results. After building the line observation model, we employ a closed-form solution for the first image triplet, then develop an incremental initialization approach to initialize the motion and structure parameters. Finally, the sparse bundle adjustment (SBA) is applied to refine the parameters, which updates the spatial lines by using the Cayley representation with an unconstrained optimization engine. The experiments show that the proposed algorithm outperforms the previous works both in efficiency and accuracy. |
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| Keywords: | Structure and motion Line representation Cayley representation Line projection Closed-form solution Incremental initialization Sparse bundle adjustment Unconstrained optimization |
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