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Recursive Camera-Motion Estimation With the Trifocal Tensor

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4 Author(s)
Ying Kin Yu ; Dept. of Comput. Sci. & Eng., Chinese Univ. of Hong Kong ; Kin Hong Wong ; Chang, M.M.Y. ; Siu Hang Or

In this paper, an innovative extended Kalman filter (EKF) algorithm for pose tracking using the trifocal tensor is proposed. In the EKF, a constant-velocity motion model is used as the dynamic system, and the trifocal-tensor constraint is incorporated into the measurement model. The proposed method has the advantages of those structure- and-motion-based approaches in that the pose sequence can be computed with no prior information on the scene structure. It also has the strengths of those model-based algorithms in which no updating of the three-dimensional (3-D) structure is necessary in the computation. This results in a stable, accurate, and efficient algorithm. Experimental results show that the proposed approach outperformed other existing EKFs that tackle the same problem. An extension to the pose-tracking algorithm has been made to demonstrate the application of the trifocal constraint to fast recursive 3-D structure recovery

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Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:36 ,  Issue: 5 )