Uncalibrated reconstruction of curved surfaces

摘要

In this article, we show that even if the camera is uncalibrated and its translational motion is unknown, curved surfaces can be reconstructed from their apparent contours up to a 3D affine ambiguity. Further, we show that even if the reconstruction is non-metric (non-Euclidean), we can still extract useful information from the reconstruction for many computer vision applications, such as distinguishing curved surfaces from fixed features and computing the time-to-contact to the curved surfaces.