Simultaneous uncalibrated multiple view reconstruction of points, lines, quadrics and cameras

In the last two decades, considerable attention has been given to the reconstruction of motion and structure from a series of uncalibrated views. However, all this work has focused mainly on the reconstruction of points. In contrast, we present an approach that simultaneously performs reconstruction of various types of primitives and cameras by means of Bundle Adjustment without the need to resort to the trifocal or quadrifocal tensors. This paper also discusses certain topology problems related to the reconstruction of quadrics.