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Published in:
2016 | OriginalPaper | Chapter
5. 3D Reconstruction from Two Views
Authors : Kenichi Kanatani, Yasuyuki Sugaya, Yasushi Kanazawa
Published in: Guide to 3D Vision Computation
Publisher: Springer International Publishing
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Abstract
This chapter describes a method for 3D reconstruction from two views, that is, computing the 3D positions of corresponding point pairs. To do this, we need to know the camera matrices that specify the positions, orientations, and internal parameters, such as focal lengths, of the two cameras. We estimate them from the fundamental matrix computed from the two images; this process is called self-calibration. We first express the fundamental matrix in terms of the positions, orientations, and focal lengths of the two cameras. Then we show that the focal lengths of the two cameras are computed from the fundamental matrix by an analytical formula. Using them, we can compute the positions and orientations of the two cameras, which determine their camera matrices. Once the camera matrices are determined, the 3D positions of corresponding point pairs are computed by the triangulation computation described in the preceding chapter.