Stabilizing 3D modeling with geometric constraints propagation

This paper proposes a technique for estimating piecewise planar models of objects from their images and geometric constraints. First, assuming a bounded noise in the localization of 2D points, the position of the 3D point is estimated as a poly- hedron containing all the possible solutions of the triangulation. Then, given the topological structure of the 3D points cloud, geometric relationships among facets, such as coplanarity, parallelism, orthogonality, and angle equality, are automatically detected. A subset of them that is sufficient to stabilize the 3D model estimation is selected with a flow-network based algorithm. Finally a feasible instance of the 3D model, i.e. one that satisfies the geometric constraints and whose 3D vertices lie within the associated polyhedral bounds, is computed by solving a Constraint Satisfaction Problem. The process accommodates uncertainty in a non-probabilistic fashion and thus provides rigorous results. Synthetic and real experiments illustrate the approach