Well-known matching constraints for points and lines in muliple images are necessary but not sufficient condition for the existence of real structure and cameras, underlying the image correspondences. To obtain sufficient conditions, the following additional constraints must be imposed: positive scales, the existence of a plane at infinity not intersecting the scene, and the existence of handedness preserving cameras. We present modifications of the well-known matching constraints and also some new constraints, taking into account some of this additional knowledge. Not only conventional but also central panoramic cameras are naturally described. To achieve this, we have generalized and simplified Hartley's ch(e)irality theory by formulating it in the language of oriented projective geometry and Grassmann tensors.
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This document produced for BMVC 2001