Projective Structure from Uncalibrated Images: Structure From Motion and Recognition

| We address the problem of reconstructing 3D space in a projective framework from two or more views, and the problem of artiicially generating novel views of the scene from two given views (re-projection). We describe an invariance relation which provides a new description of structure, we call projective depth, which is captured by a single equation relating image point correspondences across two or more views and the homographies of two arbitrary virtual planes. The framework is based on knowledge of correspondence of features across views, is linear, extremely simple, and the computations of structure readily extends to over-determination using multiple views. Experimental results demonstrate a high degree of accuracy in both tasks-reconstruction and re-projection.