A ne Structure from Line Correspondences with Uncalibrated A ne Cameras Long QUAN and Takeo KANADE

|This paper presents a linear algorithm for recovering 3D a ne shape and motion from line correspondences with uncalibrated a ne cameras. The algorithm requires a minimum of seven line correspondences over three views. The key idea is the introduction of a one-dimensional projective camera. This converts 3D a ne reconstruction of \line directions" into 2D projective reconstruction of \points". In addition, a line-based factorisation method is also proposed to handle redundant views. Experimental results both on simulated and real image sequences validate the robustness and the accuracy of the algorithm. Key-words: structure from motion, a ne structure, factorisation method, line correspondence, a ne camera, one-dimensional camera, uncalibrated image.