A unifying framework for structure and motion recovery from image sequences
- 19 November 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 314-320
- https://doi.org/10.1109/iccv.1995.466923
Abstract
The paper proposes a statistical framework that enables 3D structure and motion to be computed optimally from an image sequence, on the assumption that feature measurement errors are independent and Gaussian distributed. The analysis and results demonstrate that computing both camera/scene motion and 3D structure is essential to computing either with any accuracy. Having computed optimal estimates of structure and motion over a small number of initial images, a recursive version of the algorithm (previously reported) recomputes sub optimal estimates given new image data. The algorithm is designed explicitly for real time implementation, and the complexity is proportional to the number of tracked features. 3D projective, affine and Euclidean models of structure and motion recovery have been implemented, incorporating both point and line features into the computation. The framework can handle any feature type and camera model that may be encapsulated as a projection equation from scene to image.Keywords
This publication has 14 references indexed in Scilit:
- Stereo from uncalibrated camerasPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Recursive estimation of structure and motion using relative orientation constraintsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A paraperspective factorization method for shape and motion recoveryPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1997
- Dynamic Updating of Planar Structure and Motion: The Case of Constant MotionComputer Vision and Image Understanding, 1996
- Active camera calibration for a head-eye platform using the variable state-dimension filterPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1996
- Integrated 3D analysis of flight image sequencesPublished by Springer Nature ,1994
- Motion estimation on the essential manifoldPublished by Springer Nature ,1994
- Navigation using affine structure from motionPublished by Springer Nature ,1994
- Affine structure from motionJournal of the Optical Society of America A, 1991
- 3D positional integration from image sequencesImage and Vision Computing, 1988