Estimating motion and structure from correspondences of line segments between two perspective images

Presents an algorithm for determining 3D motion and structure from correspondences of line segments between two perspective images. To our knowledge, the paper is the first investigation of use of line segments in motion and structure from motion. Classical methods use their geometric abstraction, namely straight lines, but then three images are necessary for the motion and structure determination process. We show that two views are in general sufficient when we use line segments. The assumption we use is that two matched line segments contain the projection of a common part of the corresponding line segment in space. Indeed this is what we use to match line segments between different views. Both synthetic and real data have been used to test the proposed algorithm, and excellent results have been obtained with real data containing a relatively large set of line segments. The results are comparable with those obtained using stereo calibration