Affine structure from line correspondences with uncalibrated affine cameras

This paper presents a linear algorithm for recovering 3D affine shape and motion from line correspondences with uncalibrated affine cameras. The algorithm requires a minimum of seven line correspondences over three views. The key idea is the introduction of a one-dimensional projective camera. This converts 3D affine reconstruction of ''line directions'' into 2D projective reconstruction of ''points.'' In addition, a line-based factorization method is also proposed to handle redundant views. Experimental results both on simulated and real image sequences validate the robustness and the accuracy of the algorithm.