RECONSTRUCTION AND PREDICTION FROM THREE IMAGES OF UNCALIBRATED CAMERAS

This paper deals with the problem of reconstructing the locations of a number of points in space from three different images taken by uncalibrated cameras. It is assumed that the correspondences between the points in the different images are known.

In the case of six points this paper shows that there are in general three solutions to the problem of determining the shape of the object, but some of them may be complex and some may not be physically realisable (e.g. points behind the camera). The solutions are given by a third degree polynomial with coefficients depending on the coordinates of the points in the image. It is also shown how a priori information of the object, such as planarity of subsets of the points, can be used to make reconstruction. In this case the reconstruction is unique and it is obtained by a linear method. Furthermore it is shown how additional points in the first two images can be used to predict the location of the corresponding point in the third image, without calculating the epipoles. Finally a linear method for the reconstruction in the case of at least seven point matches are given.