Geometric methods for relative reconstruction from weakly calibrated images

We present several new geometric methods for relative stereo and motion reconstruction using a discrete set of point correspondences. We suppose that the epipoles are known but do not assume any knowledge of the cameras´ intrinsic or extrinsic parameters. In each case, we choose a set of five points as a basis for projective space and perform reconstruction relative to these five points. We also present a new technique for reprojection without reconstruction. We have implemented the proposed methods and present several examples using real images