3D Structure from a Single Calibrated View Using Distance Constraints

概要

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We propose a new method to recover scene points from a single calibrated view using some known distances among the points. This paper first introduces the problem and its relationship with the perspective n point problem. Then the minimal number of distances required to uniquely recover scene points are derived. The theory has been developed into a practical vision algorithm to calculate the initial points' coordinates using distance constraints. Finally SQP (Sequential Quadratic Programming) is used to optimize the initial estimations. It can minimize a cost function defined as the sum of squared reprojection errors while keeping the specified distance constraints strictly satisfied. Both simulation data and real scene images have been used to test the proposed method, and very good results have hppn obtained.
一般社団法人情報処理学会の論文
2003-11-06