Accurate structure and motion computation in the presence of range image distortions due to sequential acquisition

An innovative technique for rigid body motion estimation for use with sequential, time-of-flight laser radar scanners is presented. The method is an iterative, linear, feature-based approach which uses the non-zero image acquisition time constraint to accurately recover the motion parameters from the distorted structure of the 3-D range maps. The performance of the technique is experimentally verified using computer simulations.<>