Using constancy of distance to estimate position and displacement in space
- 1 July 1988
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 10 (4) , 594-599
- https://doi.org/10.1109/34.3921
Abstract
The problem of computing structure and motion from the observation of points in two distinct images of a scene is considered. The proposed method explicitly utilizes the principle of conservation of distance during rigid-body motion. The formulation is such that it separates the problem of estimating object position from that of determining motion parameters. The equations of invariance of distance for a rigid body are solved for the points' position in space. When these coordinates in space are known, motion parameters are computed in a simple and straightforward manner. Examples are given to illustrate the efficiency of the algorithm.Keywords
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