Coordinate-Free Carlsson-Weinshall Duality and Relative Multi-View Geometry
Résumé
We present a coordinate-free description of Carlsson-Weinshall duality between
scene points and camera pinholes and use it to derive a new characterization
of primal/dual multi-view geometry. In the case of three views, a particular
set of reduced trilinearities provide a novel parameterization of camera
geometry that, unlike existing ones, is subject only to very simple internal
constraints. These trilinearities lead to new ``quasi-linear'' algorithms for
primal and dual structure from motion. We include some preliminary experiments
with real and synthetic data.
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