Linear Algorithms for Multi-Frame Structure from Constrained Motion

Linear algorithms are presented for computing the 3-D structure and motion of vehicles in traffic scenes under the ground-plane constraint. Point matches in multiple image frames are used. The algorithms first determine the inter-frame rotation angles, then the point depths, and finally the inter-frame translations. All computations are linear and require no parameter tuning. The algorithms are tested with both synthetic data and routine traffic images. Extensive experimental results are reported that demonstrate the validity of the algorithms.