Informatics Report Series



Related Pages

Report (by Number) Index
Report (by Date) Index
Author Index
Institute Index

Title:Viewpoint estimation in three-dimensional images taken with perspective range sensors
Authors: Jose Sanchiz ; Robert Fisher
Date:Nov 2000
Publication Title:IEEE Trans. Pat. Anal. and Mach. Intel.
Volume No:22(11) Page Nos:1324-1329
We present a method for estimating the viewpoint from where a 3D image has been taken using a central-projection range sensor. We assume we have the 3D coordinates of the points, organised with a known topology, but considerable noise is present in the data. At points in the scene where there are surface discontinuities we estimate step rays through a linear interpolation. The viewpoint is found as the point of minimum distance to the set of step rays. To cope with noise, we define an unbiased distance measure. The minimisation of the sum of the distances provides the viewpoint. We present results of several experiments carried out with 3D images of an old church.
Copyright 2000 IEEE. Reprinted from Trans. Pat. Anal. and Mach. Intel., Nov 2000, pp1324-1329.
This material is posted here with permission of the IEEE.Such permission of the IEEE does not in any way imply IEEE endorsement of any of Edinburgh's products or services. Internal or personal use of thismaterial is permitted. However, permission to reprint/republish this materialfor advertising or promotional purposes or for creating new collective worksfor resale or redistribution must be obtained from the IEEE by writing to By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
Links To Paper
No links available
Bibtex format
author = { Jose Sanchiz and Robert Fisher },
title = {Viewpoint estimation in three-dimensional images taken with perspective range sensors},
year = 2000,
month = {Nov},
volume = {22(11)},
pages = {1324-1329},

Home : Publications : Report 

Please mail <> with any changes or corrections.
Unless explicitly stated otherwise, all material is copyright The University of Edinburgh