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This correspondence deals with the computation of structure and motion of rigid objects in space from image positions and optical flow. A test for rigid motion of objects in space is introduced which yields a new formulation of the problem. Assuming a central projection model for the viewing system, it is shown that image positions and optical flow at four points can achieve this perception.
Pattern Analysis and Machine Intelligence, IEEE Transactions on (Volume:PAMI-8 , Issue: 1 )
Date of Publication: Jan. 1986