Pattern Recognition, Vol. 28, No. 8, pp. 1181 1190, 1995
Elsevier Science Ltd
Pattern Recognition Society
Printed in Great Britain
0031 320395 $9.50+,00
REPRESENTING AND ESTIMATING 3-D LINES t
YUH-LIN CHANG:~ and J. K. AGGARWAL§
Computer and VisionResearchCenter, Department of Electricaland Computer Engineering,
The Universityof Texas at Austin,Austin,TX 78712,U.S.A.
(Received 16 November 1993;in revised form 13 December 1994;received for publication 3 January 1995)
Abstract--Thispaper addressesthe issuesconcerningreconstructinga 3-D line from a sequenceof its 2-D
projections.Weconsiderboth the problem of3-Dlinerepresentationand the recursiveestimationalgorithm.
Wepoint out the problemswithprevious3-D linerepresentationmodels,and suggesta newapproach based
on simplegeometrical observations. We then derive the corresponding recursiveestimation algorithm for
the new model,based on simplelinear algebra. Finally, a general discussionrevealsdeeper insight into the
seeminglysimplequestion of 3-D line representation and estimation.
3-D line recovery 3-D line representation