Projective Pose Estimation of Linear and Quadratic Primitives in Monocular Computer Vision

In this paper the relevance of perspective geometry for 3D scene analysis from a single view is asserted. Analytic procedures for perspective inversion of special primitive configurations are presented. Four configurations are treated: (1) four coplanar segments; (2) three orthogonal segments; (3) a circle arc; (4) a quadric of revolution. A complete and thorough illustration of the developed methodologies is given. The importance of the selected primitives is illustrated in different application contexts. Experimental results on real images are provided for configurations (3) and (4).