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Multi-frame estimation of planar motion

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2 Author(s)
L. Zelnik-Manor ; Dept. of Comput. Sci. & Appl. Math., Weizmann Inst. of Sci., Rehovot, Israel ; M. Irani

Traditional plane alignment techniques are typically performed between pairs of frames. We present a method for extending existing two-frame planar motion estimation techniques into a simultaneous multi-frame estimation, by exploiting multi-frame subspace constraints of planar surfaces. The paper has three main contributions: 1) we show that when the camera calibration does not change, the collection of all parametric image motions of a planar surface in the scene across multiple frames is embedded in a low dimensional linear subspace; 2) we show that the relative image motion of multiple planar surfaces across multiple frames is embedded in a yet lower dimensional linear subspace, even with varying camera calibration; and 3) we show how these multi-frame constraints can be incorporated into simultaneous multi-frame estimation of planar motion, without explicitly recovering any 3D information, or camera calibration. The resulting multi-frame estimation process is more constrained than the individual two-frame estimations, leading to more accurate alignment, even when applied to small image regions.

Published in:

IEEE Transactions on Pattern Analysis and Machine Intelligence  (Volume:22 ,  Issue: 10 )