Congruences and concurrent lines in multi-view geometry

DOI10.1016/J.AAM.2017.01.001MaRDI QIDQ2356777zbMATH OpenOpenAlexFDO

Authors Jean Ponce, Bernd Sturmfels, Mathew Trager

Publication date 6 June 2017

Published in Advances in Applied Mathematics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1608.05924

zbMATH Keywords

catadioptric cameracomputational algebraic geometryfocal locusline congruencepanoramic camerapinhole cameratwo-slit camera

Mathematics Subject Classification ID

Computational aspects of higher-dimensional varieties (14Q15) Projective analytic geometry (51N15) Numerical aspects of computer graphics, image analysis, and computational geometry (65D18) Symbolic computation and algebraic computation (68W30)

Abstract: We present a new framework for multi-view geometry in computer vision. A camera is a mapping between $mathbb{P}^3$ and a line congruence. This model, which ignores image planes and measurements, is a natural abstraction of traditional pinhole cameras. It includes two-slit cameras, pushbroom cameras, catadioptric cameras, and many more. We study the concurrent lines variety, which consists of $n$-tuples of lines in $mathbb{P}^3$ that intersect at a point. Combining its equations with those of various congruences, we derive constraints for corresponding images in multiple views. We also study photographic cameras which use image measurements and are modeled as rational maps from $mathbb{P}^3$ to $mathbb{P}^2$ or $mathbb{P}^{1}imesmathbb{P}^1$.

Review text

In photogrammetry or multi-view geometry, a camera is classically modelled as a map from (an open subset of) projective three space to the projective plane whose fibers are lines. This model is based on classical camera devices but, from a geometric and computational viewpoint, mapping onto an image plane may seem artificial. Hence this paper proposes to directly study maps into the Grassmannian of lines from an algebraic viewpoint. In this line-geometric model, the image plane of classical multi-view geometry is replaced by a congruence of lines. In general (if their focal loci are pairwise disjoint), the multi-view variety of \(n\) multiple cameras (line congruences) equals the intersection of the Cartesian product with the variety of \(n\)-tuples of intersecting lines. For the latter's ideal, the authors provide minimal generators and a Gröbner basis. Based on a classification of congruences of order one, they describe the multi-view varieties for rational cameras in detail. These include pinhole and two-slit cameras. For their mixed multi-view ideal a system of minimal generators is provided. The authors also adapt the classical epipolar geometry to a pair of rational cameras. Finally, the authors also discuss some cameras of order greater than two (panoramic and catadioptric cameras) and show how their line-geometry camera model relates to the traditional approach. This paper emphasizes the role of line geometry in multi-view geometry and advantageously combines classical knowledge with modern computational algebraic geometry. Calibration problems are left to future investigations.

Recommendations

• Algebraic properties of multilinear constraints
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Cited in

(20)

• On projection matrices \({\mathcal P}^k \to {\mathcal P}^2\), \(k=3,\ldots,6\), and their applications in computer vision
• The chiral domain of a camera arrangement
• Cameras seeing cameras geometry
• Numerical software to compute Newton polytopes and tropical membership
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• scientific article; zbMATH DE number 2062553 (Why is no real title available?)
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• Line Multiview Varieties
• Conformal geometry for viewpoint change representation

Describes a project that uses

Uses Software

• Macaulay2

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