Abstract
Line segments are common in urban scenes and contain rich structural information. However, different from point-based reconstruction, reconstructed 3D lines may have large displacement from the ground truth in spite of a very small sum of reprojection error. In this work, we present a method to analyze the uncertainty of line reconstruction and provide a quantitative evaluation of accuracy. A new minimal four-vector line representation based on Plücker line is introduced, which is tailed for uncertainty analysis of line reconstruction. Each component of the compact representation has a certain physical meaning about the 3D line’s orientation or position. The reliability of the reconstructed lines can be measured by the confidence interval of each component in the proposed representation. Based on the uncertainty analysis of two-view line triangulation, the uncertainty of multi-view line reconstruction is also derived. Combining the proposed uncertainty analysis with reprojection error, a more reliable 3D line map can be obtained. Experiments on simulation data, synthetic and real-world image sequences validate the feasibility of the proposed method.
Highlights
Recovering 3D structure from 2D images captured from different views is an important and basic task of computer vision
We focus on uncertainty analysis of 3D line reconstruction and intend to provide a numerical evaluation of the reconstruction accuracy, with which a more reliable line map can be obtained
The results show that small reprojection errors do not guarantee the accuracy of the reconstructed lines when nearly degenerate cases happen
Summary
Recovering 3D structure from 2D images captured from different views is an important and basic task of computer vision. Line segments are common in urban scenes and provide more intuitive structural information. Though more complicated than point reconstruction, line construction is meaningful for urban and poorly-textured scenes. Lines that are close to the epipolar plane can be poorly localized even with a large baseline and a small reprojection error. In 3D reconstruction, reprojection error has always been a golden rule to evaluate the accuracy of reconstructed points of lines. The setting threshold on reprojection can reject poorly reconstructed lines from wrong matches. Small reprojection error does not guarantee a well-reconstructed line in nearly-degenerate cases and fails to provide a numerical evaluation of direction or location accuracy of the line in 3D. It is necessary to analyze the uncertainty of the reconstructed lines to distinguish those lines that are badly reconstructed with a
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