Mcilroy and Drummond: Reconstruction from Affine Silhouettes

A method for recovering structure and motion from a set of scaled orthographic silhouette views with unconstrained camera motion is presented. The outer epipolar tangencies between six or more views are used simultaneously to recover the relative pose of the cameras and hence the visual hull of the object. The camera representation proposed permits a closed form solution in the optimization of the camera parameters. The resulting system is applied to the problem of reconstructing aircraft in flight.