Recovering Heading and Structure for Constant{Direction Motion
نویسنده
چکیده
We describe a new algorithm for computing the camera heading for a multi{frame sequence of tracked points where the camera translates in a constant direction. We also adapt our previous general{motion algorithm to recover the complete structure and motion. We experimentally compare our approach to a standard two{frame algorithm and to the maximum likelihood estimate. We discuss the ipping ambiguity, a new ambiguity of structure from motion described in detail elsewhere, and demonstrate that allowing for it improves the robustness of two{frame reconstruction as well as that of our approach. Our experiments on heading recovery for planar scenes show that the error landscape has few signiicant local minima for such scenes.
منابع مشابه
A New Structure--From--Motion Ambiguity
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