Generalized use of homographies for piecewise planar reconstruction, in

We present a method for piecewise planar modeling from oriented images. The method uses a set of homologous image points and the underlying 3D geometry to determine image regions which satisfy plane-induced homographies. It robustly detects and reconstructs planes of arbitrary position and orientation in the scene and takes advantage of the regular raster structure of the images to delineate the regions.