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Summary: Structure and Motion from Images of Smooth
Textureless Objects
Yasutaka Furukawa1
, Amit Sethi1
, Jean Ponce1
, and David Kriegman2
1
Beckman Institute, University of Illinois at Urbana-Champaign
yfurukaw@uiuc.edu, asethi@uiuc.edu, ponce@cs.uiuc.edu
2
Dept. of Computer Science, University of California at San Diego
kriegman@ucsd.edu
Abstract. This paper addresses the problem of estimating the 3D shape
of a smooth textureless solid from multiple images acquired under ortho-
graphic projection from unknown and unconstrained viewpoints. In this
setting, the only reliable image features are the object's silhouettes, and
the only true stereo correspondence between pairs of silhouettes are the
frontier points where two viewing rays intersect in the tangent plane of
the surface. An algorithm for identifying geometrically-consistent frontier
points candidates while estimating the cameras' projection matrices is
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