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Abstract : |
This paper deals with the problem of analysing sequences of images taken by uncalibrated cameras. It is assumed that the correspondences between the points in the dioeerent images are known. The paper introduces a new framework for this problem. Corresponding points in a sequence of n images are related to each other by a xed n-linear form. This form is an object invariant property, closely linked to the motion of the camera relative to the xed world. We rst describe a reduced setting in which these multilinear forms are easier to understand and analyse. This new formulation of the multilinear forms is then extended to the calibrated case, the uncalibrated case. Finally a new canonic form for the camera matrices is given which has a lot of similarities with the calibrated case. This form is closely related to the camera motion. 1, |
