3D Motion Estimation of a Trinocular System for a Full-3D Object Reconstruction

Motion estimation of a calibrated multi-ocular ac- quisition 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. In this paper we propose, analyze and compare these two possible solu- tions, and present a low-cost high-accuracy full-3D re- construction system based on multiple trinocular views at standard TV resolution.