Motion and structure from point correspondences with errorestimation: planar surfaces
Weng, J.; Ahuja, N.; Huang, T.S.
Signal Processing, IEEE Transactions on
Volume 39, Issue 12, Dec 1991 Page(s):2691 - 2717
Digital Object Identifier 10.1109/78.107418
Summary:The determination of motion and structure of a planar scene from
monocular image sequences, is studied. A new and simpler linear
algorithm, that gives closed-form solutions for motion and structure
parameters using point correspondences between two images, assuming that
the coplanar points undergo a rigid motion in 3-D space, is presented. A
series of analytical results is established. From two perspective views
of a planar scene which is undergoing a rigid motion, there are
generally two (normalized) interpretations for motion parameters and the
positions of the object plane. These two interpretations, one vertical
and the other illusive, are both valid in the sense that they render the
same pair of images. The authors identify all the special cases in which
the number of interpretations is not two, and derive necessary and
sufficient geometrical conditions for those special cases to occur. The
approach to error estimation is based on the first-order perturbation.
The estimated errors provide quantitative assessment for the accuracy of
the solutions. They also indicate degenerate or nearly degenerate
configurations in the presence of noise
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