Canonical representation and multi-view geometry of cylinders
Canonical representation and multi-view geometry of cylinders
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DOI：
10.1007/s11263-006-7935-4
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发表时间：
2006-11-01
影响因子：
19.5
通讯作者：
Appel, Mirko
中科院分区：
文献类型：
--
作者：
Navab, Nassir;Appel, Mirko
本文首先介绍了圆柱的一种正则表示。这里介绍的规范表示与Plucker线表示密切相关。在本文中，我们表明，这种表示是一个适当的计算机视觉应用。特别是，它使我们能够很容易地开发出一系列的数学方法的姿态估计，三维重建，和运动estimation.One的主要新颖之处是在本文中的主要方程主导的三视图几何的圆柱体的介绍。我们展示了圆柱体的三视图几何形状与直线几何形状之间的关系（Spetsakis和Aloimonos，1990; Weng等人，1993）和点（Shashua，1995）定义的三线性张量（Hartley，1997），并提出了一种线性方法，它使用六个圆柱之间的对应关系在三个视图，以恢复运动和结构。圆柱形管道和容器是大多数化工，水处理和发电厂，石油平台，炼油厂和许多其他工业设施的主要组成部分。我们已经开发了一个专业的软件，称为CyliCon，它允许从一系列预先校准的图像有效地重建这些设施。标记用于此预校准过程。本文的理论和实践结果代表了无标记标定和重建这类工业场地的第一步。在这里，实验结果利用本文介绍的圆柱体的两视图和三视图的几何形状，提供初始的摄像机校准结果。
This paper first introduces a canonical representation for cylinders. The canonical representation introduced here is closely related to the Plucker line representation. In this paper, we show that this representation is an appropriate one for computer vision applications. In particular, it allows us to easily develop a series of mathematical methods for pose estimation, 3D reconstruction, and motion estimation.One of the major novelties in this paper is the introduction of the main equations dominating the three view geometry of cylinders. We show the relationship between cylinders' three-view geometry and that of lines (Spetsakis and Aloimonos, 1990; Weng et al., 1993) and points (Shashua, 1995) defined by the trilinear tensor (Hartley, 1997), and propose a linear method, which uses the correspondences between six cylinders across three views in order to recover the motion and structure.Cylindrical pipes and containers are the main components in the majority of chemical, water treatment and power plants, oil platforms, refineries and many other industrial installations. We have developed a professional software, called CyliCon, which allows efficient as-built reconstruction of such installations from a series of pre-calibrated images. Markers are used for this pre-calibration process. The theoretical and practical results in this paper represent the first steps towards marker-less calibration and reconstruction of such industrial sites. Here, the experimental results take advantage of the two-view and three-view geometry of cylinders introduced in this paper to provide initial camera calibration results.