3D motion estimation of a trinocular system for a full-3D object reconstruction
Motion estimation of a calibrated multi-ocular acquisition system can be performed either on two-dimensional data, by applying a rigidity constraint to a set of matched points on monocular views, or on three-dimensional data, by determining the rigid motion that best overlaps homologous 3D points obtained through stereo matching and back-projection. We propose, analyze and compare these two possible solutions, and present a low-cost high-accuracy full-3D reconstruction system based on multiple trinocular views at standard TV resolution.