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New algorithms for two-frame structure from motion

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2 Author(s)
Oliensis, J. ; NEC Res. Inst., Princeton, NJ, USA ; Genc, Y.

We describe two new algorithms for two-frame structure from motion from tracked point features. One is the first fast algorithm for computing an exact least-squares estimate. It exploits our observation that the rotationally invariant least-squares error can be written in a simple form that depends just on the motion. The other is essentially as accurate as the least-squares estimate and is more efficient, probably faster, and potentially more robust than previous algorithms of comparable accuracy. We also analyze theoretically the accuracy of the optical-flow approximation to the least-squares error

Published in:

Computer Vision, 1999. The Proceedings of the Seventh IEEE International Conference on  (Volume:2 )

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