Determining 3-D motion and structure of a rigid body using straight line correspondences

This paper describes the main results obtained for the determination of 3-D motion and structure of a rigid body containing straight line segments, given a sequence of (2-D) perspective views [1]. The analysis is based on the representation of the central projection of a 3-D line on the unit sphere. Methods over 2 and 3 frames are shown for the cases of pure rotation, pure translation, and general motion.