Camera Pose Estimation and Reconstruction from Image Profiles under Circular Motion

Abstract. This paper addresses the problem of motion estimation and reconstruction of 3D models from profiles of an object rotating on a turntable, obtained from a single camera. Its main contribution is the development of a practical and accurate technique for solving this problem from profiles alone, which is, for the first time, precise enough to allow the reconstruction of the object. No correspondence between points or lines are necessary, although the method proposed can be equally used when these features are available, without any further adaptation. Symmetry properties of the surface of revolution swept out by the rotating object are exploited to obtain the image of the rotation axis and the homography relating epipolar lines, in a robust and elegant way. These, together with geometric constraints for images of rotating objects, are then used to obtain first the image of the horizon, which is the projection of the plane that contains the camera centres, and then the epipoles, ...

• Type: Conference
• Year: 2000
• Where: ECCV
• Authors: Paulo R. S. Mendonça, Kwan-Yee Kenneth Wong, Roberto Cipolla
• Keywords: Computer Vision, ECCV 2000, Epipolar Geometry, Euclidean Motion, Motion Estimation, One-dimensional Optimisation Problem, Rotation Axis