Abstract
Formal analysis of the structure-from-motion problem has produced computational schemes that are often unstable and sensitive to image measurement errors. This is in part due to the fact that the formal analysis is mainly concerned, as it should be, with the most general cases, treating special cases with marginal interest. However, special cases abound in man-made environments; their occurrence, if ascertained, simplifies drastically the task of 3D interpretation. After examining the problem of interpreting general configurations of lines in space, this paper proposes a number of simple and efficient computational units that are tuned to the occurrence of special line configurations. The process of propagation, which allows interpretation to spread over the image, is also advocated. Such computational units and processes can be organized in a rule-based framework where the occurrence of special configurations can either be tested directly, or hypothesized and used until an inconsistency is demonstrated.
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