" Reducing " Structure From Motion " : a General Framework for Dynamic Vision - Part 2 : Experimental

A number of methods have been proposed in the literature for estimating scenestructure and ego-motion from a sequence of images using dynamical models. Although all methods may be derived from a "natural" dynamical model within a unified framework, from an engineering perspective there are a number of trade-offs that lead to different strategies depending upon the specific applications and the goals one is targeting. Which one is the winning strategy? In this paper we analyze the properties of the dynamical models that originate from each strategy under a variety of experimental conditions. For each model we assess the accuracy of the estimates, their robustness to measurement noise, sensitivity to initial conditions and visual angle, effects of the basrelief ambiguity and occlusions, dependence upon the number of image measurements and their sampling rate.