Application of Projective Reconstruction Based on Cake Configuration

Martin Urban, Tomas Pajdla, Tomas Werner, Vaclav Hlavac

Center for Machine Perception
Czech Technical University, Prague,


Reconstruction was done in the following steps:

  1. Corresponding points were marked by mouse in 10 sequence images.
  2. Polygons were marked, each in one image.
  3. Projective reconstruction via trifocal tensors in 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

Three images from the input sequence:

view 1 of the scene view 2 of the scene view 3 of the scene

Two views on the reconstructed model:


view 1 of the scene
animated GIF [3.2MB]
AVI animation[5.5MB]
VRML 1.0 model[2MB]
VRML 2.0 model[2MB]



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

Martin Urban

Last modified: Aug 18 1999