Monocular Reconstruction of 3-D Bilateral Symmetrical Objects

This paper concerns the 3-D monocular reconstruction of general bilateral symmetrical objects from a single perspective view. Bilateral symmetry is also exploited to simplify the estimation of 3-D inter-frame motion of such objects. Particular attention is given to the maximum exploitation of data redundancy for the sake of noise robustness. Several novel algorithms are described for recovering the range parameters of object points from their image coordinates in a single perspective view. The algorithms allow the 3-D inter-frame motion to be computed using well-known closed-form absolute orientation techniques. Experimental results with synthetic and a number of real objects are included to demonstrate the performance of the algorithms. 1 Introduction Shape symmetry can be found in many objects [1]. Symmetry provides strong cues for human visual perception [2]. This paper concerns what is probably the most common form of symmetry - bilateral symmetry, which is also called reflection..