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Corridor – Projective Reconstruction Based on Cake Configuration with Panoramic Reference View

Martin Urban, Tomas Pajdla, Tomas Werner, Vaclav Hlavac
In this experiment, an image from a panoramic catadioptric camera was used as reference view. The other seven views were taken using a standard digital photo-camera. The resolution of the catadioptric camera was 1000×1000 pixels and of the photo-camera 1200×1600 pixels.

Reconstruction was done in the following steps:

  1. Corresponding points were marked by a mouse.
  2. Polygons were marked, each in one image.
  3. Projective reconstruction via trifocal tensors in “unclosed” CAKE configurations was done (See Tech. report Urban-TR7-99.ps.gz)
  4. Proj. rec. was upgraded to a Euclidean reconstruction by selecting 3D Euclidean coordinates of 5 points.
  5. VRML1 model extracted. Texture warped from the marked polygons. Warping is done by affine transformation (supported by VRML) instead of projective one, which is not entirely correct.

RecX: Reconstruction Toolbox for Matlab used, Another example

Images from the input sequence:

Two views on the reconstructed model:

 

References:

  • Urban, Martin; Pajdla, Tomas; Hlavac, Vaclav. Projective Reconstruction from Multiple Views. [Urban-TR7-99.ps.gz, PostScript]
  • Urban, Martin; Pajdla, Tomas; Hlavac, Vaclav. Projective reconstruction from N views having one view in common. Vision Algorithms workshop (associated with ICCV’99). [.pdf.gz, 3.5 MB]
  • Werner, Tomas; Pajdla, Tomas; Urban, Martin. REC3D: Toolbox for 3D Reconstruction from Uncalibrated 2D Views. [tr99-4.ps.gz, PostScript]

The experiment was done using CORRGUI software system developed in CMP  by T. Pajdla, T. Werner, J. Burianek, J. Cernik.

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