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Motion and structure from line correspondences; closed-form solution, uniqueness, and optimization

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3 Author(s)
J. Weng ; Beckman Inst., Illinois Univ., Urbana, IL, USA ; T. S. Huang ; N. Ahuja

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

Published in:

IEEE Transactions on Pattern Analysis and Machine Intelligence  (Volume:14 ,  Issue: 3 )