Robust Plane-Based Structure From Motion

We introduce a new approach to structure and motion re-covery directly from one or more large planes in the scene. When such a plane exists, we demonstrate how to automat-ically detect and track it robustly and consistently over a long video sequence, and how to efficiently self-calibrate the camera using the homographies induced by this plane. We build a complete structure from motion system which does not use any additional off-the-plane information about the scene, and show its advantage over conventional sys-tems in handling two important issues which often occur in real world videos, namely, the plane degeneracy and the dynamic foreground problems. Experimental results on a variety of real video sequences verify the effectiveness and efficiency of our system. 1