Optimization and Systems Theory Seminar
Tuesday, May 25, 1999, 11.00-12.00, Room 3721, Lindstedtsv. 25
Jana Kosecka and Shankar Sastry
Electrical Engineering and Computer Science
University of California
Berkeley, California, USA
Multiview geometry revisited: A differential geometric approach
Multiview geometry has been traditionally developed in the framework
of projective geometry. In this talk, we show an alternative approach
which uses notation and concepts from differential geometry. We
review projective (multilinear) constraints and Euclidean invariants
associated with the problem of structure and motion recovery from n views.
As a consequence of the study of projective constraints we show
geometric dependency of the trilinear and quadrilinear constraints on
the bilinear ones and associated conditions on motions which guarantee
the dependency. The study of Euclidean invariants leads us to a new
derivation and interpretation of Kruppa's equations as a inner product
coinvariant of Euclidean transformations in a space with unknown metric.
Our differential geometric approach allows us to establish the results in
an elegant and concise way and reveal the intrinsic geometric meaning of some
classic problems. New results and new algorithms fall naturally out of
these new geometric interpretations.
Calendar of seminars
Last update: May 21, 1999 by