Horizontal line 3D reconstruction from two image points based on single catadioptric omni-directional image
基于单幅折反射全向图的水平直线3维重建

Differ from traditional 3D reconstruction via stereo vision, this paper studies the reconstruction of straight horizontal lines in 3D space from single 2D omni-directional images. It demonstrates that, for symmetric non-central catadioptric systems, the equation of a 3D horizontal line can be estimated using only two points extracted from its image . By exploiting the peculiar property of horizontal line image in catadioptric system, line detection from single omni-directional image can be simplified. Meanwhile, a horizontal line reconstruction algorithm based on main-point image and non-main-point image is developed. Detailed experiments justify that, under the same precision of image point extraction, compared to present primary approaches of reconstruction from four image points, our methods is more straightforward and accurate.