Abstract
The paper presents a geometric approach for the reconstruction of shape and motion using projective invariants as function of the trifocal tensor. We compute first the projective depth using groups of three uncalibrated cameras of an image sequence and then initialize the join image matrix, which can be then decomposed in 3D shape and motion by means of SVD. Experiments using real images show the value of the approach. Using algebra of incidence relations of the geometric algebra the 3D reconstruction was further improved.