Relations Between Reconstructed 3D entities

Pugeault N., Kalkan S., Wörgötter F., Başeski E., Kruger N.

Proceedings of the Third International Conference on Computer Vision Theory and Applications, Funchal, Portugal, 22 - 25 January 2008, pp.186-193

  • Publication Type: Conference Paper / Full Text
  • City: Funchal
  • Country: Portugal
  • Page Numbers: pp.186-193
  • Middle East Technical University Affiliated: No


In this paper, we first propose an analytic formulation for the position’s and orientation’s uncertainty of local 3D line descriptors reconstructed by stereo. We evaluate these predicted uncertainties with Monte Carlo simulations, and study their dependency on different parameters (position and orientation). In a second part, we use this definition to derive a new formulation for inter–features distance and coplanarity. These new formulations take into account the predicted uncertainty, allowing for better robustness. We demonstrate the positive effect of the modified definitions on some simple scenarios.