Automatic Matching and Motion Estimation from Two Views of a Multiplane Scene

This paper addresses the computation of motion between two views when 3D structure is unknown but planar surfaces can be assumed. We use points which are automatically matched in two steps. The first one is based on image parameters and the second one is based on the geometric constraint introduced by computed homographies. When two or more planes are observed, corresponding homographies can be computed and they can be used to obtain the fundamental matrix, which gives constraints for the whole scene. The computation of the camera motion can be carried out from a homography or from the fundamental matrix. Experimental results prove this approach to be robust and functional for real applications in man made environments.