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Using constancy of distance to estimate position and displacement in space

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3 Author(s)
Mitiche, A. ; Comput. & Vision Res. Center, Texas Univ., Austin, TX, USA ; Seida, S. ; Aggarwal, J.K.

The problem of computing structure and motion from the observation of points in two distinct images of a scene is considered. The proposed method explicitly utilizes the principle of conservation of distance during rigid-body motion. The formulation is such that it separates the problem of estimating object position from that of determining motion parameters. The equations of invariance of distance for a rigid body are solved for the points' position in space. When these coordinates in space are known, motion parameters are computed in a simple and straightforward manner. Examples are given to illustrate the efficiency of the algorithm.<>

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Pattern Analysis and Machine Intelligence, IEEE Transactions on  (Volume:10 ,  Issue: 4 )