Projective Reconstruction Based on Cake Configuration with Panoramic Reference View

Martin Urban, Tomas Pajdla, Tomas Werner, Vaclav Hlavac

Center for Machine Perception
Czech Technical University, Prague,

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 1000x1000 pixels and of the photo-camera 1200x1600 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
  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:


VRML model[0.4MB]


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

Martin Urban

Last modified: Wed Oct 25 18:38:41 CEST 2000