MOTION FROM THE FRONTIER OF CURVED SURFACES
Roberto Cipolla, Kalle Astrom and Peter Giblin
The frontier of a curved surface is the envelope of contour generators showing the boundary, at least locally, of the visible region swept out under viewer motion. In general, apparent contours from different viewpoints are generated by different contour generators on the surface and hence do not provide a constraint on viewer motion. Frontier points, however, have projections which correspond to a real point on the surface and can be used to constrain viewer motion by the epipolar constraint.
We show how to recover viewer motion from frontier points in both the continuous and discrete motion cases, as well as for calibrated and uncalibrated cameras. We present preliminary results of an iterative scheme to recover the epipolar line structure from real image sequences of families of deforming apparent contours of curved surfaces. A statistical evaluation is also performed to estimate the stability of the solution.
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