对基于本质矩阵和基于绝对二次曲面的两种重建方法进行了比较研究,仿真实验和真实图像实验结果表明,尽管基于绝对二次曲面的重建方法比较抽象,很多人对这种方法不太熟悉,但是该方法无论是在重建精度还是鲁棒性方面都优于基于本质矩阵的重建方法,这一发现对实际应用有非常重要的指导作用.

The commonly used reconstruction method from images acquired by a calibrated camera but with unknownmotion parameters is the essential matrix based one in the literature,i.e.,from the essential matrix to decompose therotation matrix and translation vector at first,then to reconstruct the scene by the standard stereo method.A less well-known and conceptually rather more abstract method is the so-called absolute dual quadric based method.However,basedon extensive experiments on simulated data as well as on real images,we showed that the absolute dual quadric basedmethod consistently outperforms the essential matrix based one in terms of reconstruction accuracy and robustness,hence itis highly recommended to use the absolute dual quadric based method rather than the commonly used essential matrix basedone in practice.