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Summary: Detecting Planes In An Uncalibrated Image Pair
Manolis I.A. Lourakis, Antonis A. Argyros and Stelios C. Orphanoudakis
Institute of Computer Science
Foundation for Research and Technology - Hellas (FORTH)
Vassilika Vouton, P.O.Box 1385, GR 711 10
Heraklion, Crete, GREECE
lourakis,argyros,orphanouĦ @ics.forth.gr
Abstract
Plane detection is a prerequisite to a wide variety of vision tasks. This
paper proposes a novel method that exploits results from projective geometry
to automatically detect planes using two images. Using a set of point and
line features that have been matched between images, the method exploits the
fact that every pair of a 3D line and a 3D point defines a plane and utilizes
an iterative voting scheme for identifying coplanar subsets of the employed
feature set. The method does not require camera calibration, circumvents the
3D reconstruction problem, is robust to the existence of mismatched features
and is applicable either to stereo or motion sequence images. Sample results
from the application of the proposed method to real imagery are also provided.
1 Introduction
Due to their abundance in man-made environments, as well as to their attractive geometric
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