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This paper focuses on initializing 3-D reconstruction from scratch without any prior scene information. Traditionally, this has been done from two-view matching, which is prone to the degeneracy called "imaginary focal lengths". We overcome this difficulty by using three images, but we do not require three-view matching; all we need is three fundamental matrices separately computed from image pairs. We exploit the redundancy of the three fundamental matrices to optimize the camera parameters and the 3-D structure. We do numerical simulation to show that imaginary focal lengths are less likely to occur, resulting in higher accuracy than two-view reconstruction. We also test the degeneracy tolerance capability of our method by using endoscopic intestine tract images, for which the camera configuration is almost always nearly degenerate. We demonstrate that our method allows us to obtain more detailed intestine structures than two-view reconstruction and hence leads to new medical applications to endoscopic image analysis.

Initializing 3-D Reconstruction from Three Views Using Three Fundamental Matrices