New algorithms for two-frame structure from motion
- 1 January 1999
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 737-744 vol.2
- https://doi.org/10.1109/iccv.1999.790295
Abstract
We describe two new algorithms for two-frame structure from motion from tracked point features. One is the first fast algorithm for computing an exact least-squares estimate. It exploits our observation that the rotationally invariant least-squares error can be written in a simple form that depends just on the motion. The other is essentially as accurate as the least-squares estimate and is more efficient, probably faster, and potentially more robust than previous algorithms of comparable accuracy. We also analyze theoretically the accuracy of the optical-flow approximation to the least-squares error.Keywords
This publication has 10 references indexed in Scilit:
- A new structure-from-motion ambiguityPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Computing the camera heading from multiple framesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- The bas-relief ambiguityPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A Multi-Frame Structure-from-Motion Algorithm under Perspective ProjectionInternational Journal of Computer Vision, 1999
- In defense of the eight-point algorithmPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1997
- Shape ambiguities in structure from motionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1997
- Comparison of approaches to egomotion computationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1996
- Structure from linear or planar motionsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1996
- Shape and motion from image streams under orthography: a factorization methodInternational Journal of Computer Vision, 1992
- A computer algorithm for reconstructing a scene from two projectionsNature, 1981