Structure and motion from straight line segments

A method to determine both the camera location and scene structure from ima ge straight segment correspondences is presented. The proposed method consi ders the finite segment length in order to use stronger constraints than do those that use the infinite line that supports the image segment. The cons traints between image segments involve a weak pairing between image segment midpoints. This allows deviations of the midpoint only in the segment dire ction. Experimental results are presented of structure and motion computati ons from the image straight line segment matching using two real images. (C ) 2000 Pattern Recognition Society. Published by Elsevier Science Ltd. All rights reserved.