Peter F. Sturm

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We propose a method for the recovery of projective shape and motion from multiple images of a scene by the factorization of a matrix containing the images of all points in all views. This factorization is only possible when the image points are correctly scaled. The major technical contribution of this paper is a practical method for the recovery of these(More)
point of the common perpendicular to the two rays (the midpoint method). Perhaps a better choice would be to In this paper, we consider the problem of finding the position of a point in space given its position in two images taken with divide the common perpendicular in proportion to the cameras with known calibration and pose. This process requires(More)
We present a method for real-time 3D object instance detection that does not require a time-consuming training stage, and can handle untextured objects. At its core, our approach is a novel image representation for template matching designed to be robust to small image transformations. This robustness is based on spread image gradient orientations and(More)
We present a general algorithm for plane-based calibration that can deal with arbitrary numbers of views and calibration planes. The algorithm can simultaneously calibrate different views from a camera with variable intrinsic parameters and it is easy to incorporate known values of intrinsic parameters. For some minimal cases, we describe all singularities,(More)
In this paper, sequences of camera motions that lead to inherent ambiguities in uncalibrated Euclidean reconstruction or self-calibration are studied. Our main contribution is a complete, detailed classification of these critical motion sequences (CMS). The practically important classes are identified and their degrees of ambiguity are derived. We also(More)
We present an approach for 3D reconstruction of objects from a single image. Obviously, constraints on the 3D structure are needed to perform this task. Our approach is based on user-provided coplanarity, perpendicularity and parallelism constraints. These are used to calibrate the image and perform 3D reconstruction. The method is described in detail and(More)
We present several methods for the estimation of relative pose between planes and cameras, based on projections of sets of coplanar features in images. While such methods exist for simple cases, especially one plane seen in one or several views, the aim of this paper is to propose solutions for multi-plane multi-view situations, possibly with little(More)
We address the problem of camera motion and 3D structure reconstruction from line correspondences across multiple views, from initialization to final bundle adjustment. One of the main difficulties when dealing with line features is their algebraic representation. First, we consider the triangulation problem. Based on Plücker coordinates to represent the 3D(More)
The purpose of this paper is to give a very simple method for nonlinearly estimating the fundamental matrix using the minimum number of seven parameters. Instead of minimally parameterizing it, we rather update what we call its orthonormal representation, which is based on its singular value decomposition. We show how this method can be used for efficient(More)
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