Detection of spatial points and lines by random sampling and voting procedure

In this paper, we propose a method for the detection of spatial points and lines from a sequence of images. Our method does not require any predetermi nation of point correspondences among images. With camera motion, a sequenc e of images defines data in a spatiotemporal domain. In this domain, a traj ectory of point correspondences among images defines a curve segment. For t he detection of the curve segment in the spatiotemporal domain, we develop a classification process for points in the spatiotemporal domain where the camera motion is known. For the classification process, we adopt the voting procedure which is the main concept underlying the Hough transform. (C) 20 01 Elsevier Science B.V. All rights reserved.