Perdigoto, LuisAraujo, Helder2025-11-072025-11-072012Perdigoto, L., & Araujo, H. (2012, November). Reconstruction of 3D lines from a single axial catadioptric image using cross-ratio. In Proceedings of the 21st International Conference on Pattern Recognition (ICPR2012) (pp. 857-860). IEEE.978-499064410-9http://hdl.handle.net/10400.8/14571It has been shown, in previous work, that the 3D position of a line can be reconstructed from a single image in vision systems that do not possess a single viewpoint. We present a new method that, in a non-central axial catadioptric system, can achieve line spacial reconstruction from 3 or more image points, given the distance ratio of 3 points in the line (a fair assumption in, for example, structured environment with repetitive architectural features). We use cross-ratio as an invariant to constrain the line localization and perform the reconstruction from a set of image points through non-linear optimization. Experimental results are presented.engbook part