The 3D Line Motion Matrix and Alignment of Line Reconstructions

Adrien Bartoli (1) , Peter Sturm (2)

1 VGG - Visual Geometry Group
2 MOVI - Modeling, localization, recognition and interpretation in computer vision

We study the problem of aligning two 3D line reconstructions in projective, affine or Euclidean space. We introduce the 6x6 3D line motion matrix that acts on Pl¨ucker coordinates. We characterize its algebraic properties and its relation to the usual 4x4 point motion matrix, and propose various methods for estimating 3D motion from line correspondences, based on cost functions defined in images or 3D space. We assess the quality of the different estimation methods using simulated data and real images.

Domaines: Vision par ordinateur et reconnaissance de formes [cs.CV]

Adrien Bartoli, Peter Sturm. The 3D Line Motion Matrix and Alignment of Line Reconstructions. International Journal of Computer Vision, 2004, 57, pp.159-178. ⟨hal-00092721⟩