Reconstructing 3D lines from a sequence of 2D projections: representation and estimation

The reconstruction of a 3-D line from a sequence of its 2-D projections is addressed. The authors first consider the problem of 3-D line representation and then the recursive estimation algorithm. They point out the problems with all previous 3-D line representation models, and suggest a novel approach based on simple geometrical observations. They then derive the corresponding recursive estimation algorithm for the novel representation, based on simple linear algebra. The representation model and the recursive algorithm are implemented on an IBM RT PC and simulation results are presented