Camillo J. Taylor, GRASP Lab, University of Pennsylvania - [home]

Structure from Motion Code

The goal of this work was to derive an algorithm that could be used to reconstruct the 3D geometry of a rigid scene composed of a number of straight line features using the measurements obtained from a set of calibrated cameras at unknown positions. The algorithm we have implemented recovers the positions of the features and the positions of the cameras up to a scale factor.

This package contains two files, SFM.tar.Z and DATA.tar.Z. SFM.tar.Z (90KB) is a compressed tar file containing the code that was used to implement the 3D structure from motion algorithm described in "Structure and Motion from Line Segments in Multiple Images" . by Camillo J. Taylor and David J. Kriegman. DATA.tar (7.1MB of compressed images) is a tar file containing three data sets of real images and input files that were used to test this program.