Motion from three weak perspective images using image rotation

In this paper, it is shown that by using image rotation, one can develop a linear algorithm to find motion using three weak perspective images. By using the correspondence of four points over a pair of these images, a function can be developed which allows one to perform the necessary rotation. With the correct image rotation, one need only add a third image to have an overdetermined linear system with which to solve for the unknown elements of the rotation matrices relating these three images.