Motion and structure from line correspondences; closed-form solution, uniqueness, and optimization
نویسندگان
چکیده
منابع مشابه
Motion and Structure from Line Correspondences; Closed-Form Solution, Uniqueness, and Optimization
This paper discusses estimating motion and structure parameters from line correspondences of a rigid scene. We present in this paper a new closed-form solution to motion and structure parameters from line correspondences through three monocular perspective views. The algorithm makes use of redundancy in the data to improve the accuracy of the solutions. The uniqueness of the solution is establi...
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A theory is presented for the computation of three dimensional motion and structure from dynamic imagery, using only line correspondences. The traditional approach of corresponding microfeatures (interesting points-highlights, corners, high curvature points, etc.) is reviewed and its shortcomings are discussed. Then, a theory is presented that describes a closed form solution to the motion and ...
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This paper considers the problem of visual-inertial sensor fusion in the cooperative case and it provides new theoretical contributions, which regard its observability and its resolvability in closed form. The case of two agents is investigated. Each agent is equipped with inertial sensors (accelerometer and gyroscope) and with a monocular camera. By using the monocular camera, each agent can o...
متن کاملEstimating motion/structure from line correspondences: a robust linear algorithm and uniqueness theorems
A closed-form solution to motion and structure from line correspondences in monocular perspective image sequences is presented. The algorithm requires a minimum of 13 lines over three perspective views. Redundancy in the data provides overdetermination to combat noise. The estimates can be used as an initial guess for further optimization [8]. A unique solution to motion and structure is guaran...
متن کاملMultiple-View Structure and Motion From Line Correspondences
We address the problem of camera motion and structure reconstruction from line correspondences across multiple views, from initialization to final bundle adjustment. One of the main difficulties when dealing with line features is their algebraic representation. First, we consider the triangulation problem. Based on Plücker coordinates to represent the lines, we propose a maximum likelihood algo...
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ژورنال
عنوان ژورنال: IEEE Transactions on Pattern Analysis and Machine Intelligence
سال: 1992
ISSN: 0162-8828
DOI: 10.1109/34.120327