Motion and structure from line correspondences; closed-formsolution, uniqueness, and optimization
Weng, J.; Huang, T.S.; Ahuja, N.
Pattern Analysis and Machine Intelligence, IEEE Transactions on
Volume 14, Issue 3, Mar 1992 Page(s):318 - 336
Digital Object Identifier   10.1109/34.120327
Summary:This work discusses estimating motion and structure parameters from line correspondences of a rigid scene. The authors present a closed-form solution to motion and structure parameters from line correspondences through three monocular perspective views. The algorithm makes use of redundancy in the data to improve the accuracy of the solutions. The uniqueness of the solution is established, and necessary and sufficient conditions for degenerate spatial line configurations are given. Optimization has been employed to further improve the accuracy of the estimates in the presence of noise. Simulations have shown that the errors of the optimized estimates are close to the theoretical lower error bound

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