Recursive estimation of motion, structure, and focal length
Azarbayejani, A.; Pentland, A.P.
Pattern Analysis and Machine Intelligence, IEEE Transactions on
Volume 17, Issue 6, Jun 1995 Page(s):562 - 575
Digital Object Identifier   10.1109/34.387503
Summary:Presents a formulation for recursive recovery of motion, pointwise structure, and focal length from feature correspondences tracked through an image sequence. In addition to adding focal length to the state vector, several representational improvements are made over earlier structure from motion formulations, yielding a stable and accurate estimation framework which applies uniformly to both true perspective and orthographic projection. Results on synthetic and real imagery illustrate the performance of the estimator

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