Structure, Pose and Motion of Bilateral Symmetric Objects.

This paper concerns the determination of structure and pose of bilateral symmetric objects from a single perspective view. The estimation of 3-D inter-frame motion of such objects is also addressed. Particular attention is given to the interpretation of image-plane quadrilaterals as the perspective projection of bilateral symmetric trapezia. A simple algorithm is described for reconstructing a symmetric trapezium from a given image quadrilateral, and for determining 3-D motion from two matched image quadrilaterals. Experiments with both synthetic and real images are included to demonstrate the validity of the theoretic results.