Affine structure from motion.

A Factorization Approach to Inertial Affine Structure from Motion

We consider the problem of reconstructing a 3-D scene from a moving camera with high frame rate using the affine projection model. This problem is traditionally known as Affine Structure from Motion (Affine SfM), and can be solved using an elegant low-rank factorization formulation. In this paper, we assume that an accelerometer and gyro are rigidly mounted with the camera, so that synchronized...

The Perception of Motion and Structure in Structure-from-motion: Comparisons of Affine and Euclidean Formulations

I investigated the discrimination of rigid from nonrigid structure and the perception of affine stretches along the line of sight [Norman & Todd (1993). Perception and Psychophysics, 53, pp. 279-291]. Investigations of performance at discriminating rigid from nonrigid structure showed that performance improved when number of views and amount of simulated three-dimensional nonrigidity increased....

Uncalibrated Obstacle Identification Using Affine Structure From Motion

In this report, we describe an obstacle identification method using affine structures from motion. We first identify a reference plane by tracking feature points across image sequences. We then compute the homographies between images induced by the reference plane from these feature points. Once the feature points are categorized as on the plane and off the plane, we reconstruct the affine stru...

Structure and Motion Estimation

This tutorial is concerned with the structure and motion estimation from the sequence of images taken with an uncalibrated affine camera. This problem was first addressed by Koenderink and van Doorn [1]. We will address the following problems: • Calibrated and uncalibrated affine camera models; • Tomasi and Kanade factorization method; • Sequential estimation of the structure and motion paramet...

Affine Structure From Motion

An Efficient Four-Parameter Affine Motion Model for Video Coding

In this paper, we study a simplified affine motion model based coding framework to overcome the limitation of translational motion model and maintain low computational complexity. The proposed framework mainly has three key contributions. First, we propose to reduce the number of affine motion parameters from 6 to 4. The proposed four-parameter affine motion model can not only handle most of th...