Projective Structure from Motion

The Projective Structure-from-Motion Problem

Given m perspective images of n fixed points Pj we can write

Problem: estimate the m 3x4 matrices Mi and

the n positions Pj from the mn correspondences pij .

2mn equations in 11m+3n unknowns

Overconstrained problem, that can be solved using (non-linear) least squares!

The Projective Ambiguity of Projective SFM

When the intrinsic and extrinsic parameters are unknown If Mi and Pj are solutions,

So are Mi and Pj where

and Q is an arbitrary non-singular 4x4 matrix. Q is a projective transformation.

Projective Spaces: (Semi-Formal) Definition

A Model of P(R3)
: affine plane

projective plane P(R3) can be constructed by adding to a one-dimensional set of points at infinity associated with the rays parallel to this plane.

Projective Subspaces and Projective Coordinates

Projective Subspaces and Projective Coordinates

Projective coordinates

Projective Subspaces

Given a choice of coordinate frame Line: Plane:

Affine and Projective Spaces

Affine and Projective Spaces

Cross-Ratios
Collinear points

Pencil of coplanar lines

Pencil of planes

{A,B;C,D}=

sin(+)sin(+)

sin(++)sin

Cross-Ratios and Projective Coordinates

Along a line equipped with the basis * *

In a plane equipped with the basis

In 3-space equipped with the basis

Projective Transformations
Bijective linear map:

Projective transformation: ( = homography )

Projective transformations map projective subspaces onto projective subspaces and preserve projective coordinates.

Projective transformations map lines onto lines and

preserve cross-ratios.

Projective Transformations
Perspective Projections induce projective transformations between planes.

Geometric Scene Reconstruction

Idea: use (A,O,O,B,C)

as a projective basis.

Geometric Scene Reconstruction

Reprinted from Relative Stereo and Motion Reconstruction, by J. Ponce, T.A. Cass and D.H. Marimont, Tech. Report UIUC-BI-AI-RCV-93-07, Beckman Institute, Univ. of Illinois (1993).

Motion Estimation from Fundamental Matrices

A Factorization Approach

minimizing

maximizing

A Factorization Approach