Choose 5 points in the first image and their matches in the second (with
the matrix ). These points verify the epipolar constraints.
Camera projection matrices
Together with matrix we can compute the camera projection
matrices: and , w.r.t the chosen projective
based on the classical triangulation principle:
- Basic equations:
- (Image points (u,v), (u',v')
3D projective point )
- Method 1:
- eliminating s and s' gives
with , the i-th row vector of .
Since the projective coordinates are defined up to a scale factor, we
can impose the constraint: .
The solution is simply the eigenvector of
associated to the smallest eigenvalue.
- Method 2:
- a physically more meaningful criterion
3D reconstruction in projective space
The projective projection matrices are available HERE for the first image and THERE for the second image. The
projective structure of the bi-plane object is
available HERE for the first
Back projection of the projective reconstruction onto the first image
an orthographic projection of the projective reconstruction (not very meaningful in Euclidean sense)
Author: Zhengyou Zhang
Thu Oct 10 15:20:46 MET DST 1996