Feed-forward recovery of motion and structure from a sequence of 2D-lines matches

A description is given of the development and implementation of a line segments based module of recovery of self-motion and 3-D structure. Given a monocular sequence of time-varying images and 2-D-lines matches in this sequence, the goal is to recover the camera motion and the 3-D-lines structure. A feedforward approach which combines prediction and correction is presented, and the equations are given and discussed in the case of small rigid motions. Algorithms, based on the minimization of the Mahalanobis distance between two estimates, are given and their implementations carefully discussed. The efficiency of the proposed approach is illustrated through experimental tests carried out considering noisy synthetic data and a real indoor scene