Representing and estimating 3-D lines

摘要

This paper addresses the issues concerning reconstructing a 3-D line from a sequence of its 2-D projections. We consider both the problem of 3-D line representation and the recursive estimation algorithm. We point out the problems with previous 3-D line representation models, and suggest a new approach based on simple geometrical observations. We then derive the corresponding recursive estimation algorithm for the new model, based on simple linear algebra. Finally, a general discussion reveals deeper insight into the seemingly simple question of 3-D line representation and estimation.