Direct affine reconstruction

This paper presents a novel method for structure and motion estimation from affine cameras, called direct affine reconstruction (DAR). The main contribution is a deeper theoretical understanding of multiple view geometry for affine cameras. This is accomplished by carefully selecting a specific coordinate system, based on relative affine coordinates. One consequence of the choice of coordinates is that it is possible to directly read out the camera matrices as well as the object coordinates from the image measurements. The proposed method is well suited for tracking purposes as well as robust estimation schemes, like RANSAC, since only four basis points are needed. Furthermore, since no costly calculations are involved, the method is very fast. Experiments are carried out on both simulated and real data, showing its relative performance against factorization