2007/08/17 by Oliver Knill, Knill, Oliver, Jose Ramirez-Herran +1
Computer Science · Engineering · #Advanced Image and Video Retrieval Techniques #Advanced Vision and Imaging #Artificial Intelligence (cs.AI) #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Robotics and Sensor-Based Localization #cs.AI #cs.CV
paper · pdf · doi:10.48550/arxiv.0708.2442
arxiv created 2007/08/17 · openalex publication_date 2007/08/17 · arxiv updated 2009/12/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this paper, we address the inverse problem of reconstructing a scene as well as the camera motion from the image sequence taken by an omni-directional camera. Our structure from motion results give sharp conditions under which the reconstruction is unique. For example, if there are three points in general position and three omni-directional cameras in general position, a unique reconstruction is possible up to a similarity. We then look at the reconstruction problem with m cameras and n points, where n and m can be large and the over-determined system is solved by least square methods. The reconstruction is robust and generalizes to the case of a dynamic environment where landmarks can move during the movie capture. Possible applications of the result are computer assisted scene reconstruction, 3D scanning, autonomous robot navigation, medical tomography and city reconstructions.