A Novel Algorithm for 3D Structure Recovery and Direct Euclidean Reconstruction Using Active Vision
一种基于主动视觉的三维结构恢复和直接欧氏重建算法

From the motions of three mutually orthogonal translations(TMOT),we develop a novel algorithm for 3D structure recovery and direct Euclidean reconstruction.Our algorithm only requires the camera to undergo one set of TMOT via the active vision platform.Then we can recover the planar structure and reconstruct the Euclidean coordinates directly from the images correspondences and the three translation distances of TMOT.The zero skew assumption is not required.The algorithm does not need to know the camera's intrinsic parameters.Nor does it need stratified reconstruction.Therefore,the two main problems of camera calibration and affine reconstruction are successfully avoided. The algorithm is linear and easy to perform.We have tested the proposed algorithm with both synthetic data and real image data.The results show that the algorithm is very effective and accurate.