Statistical Estimation and Analysis of Two-Frame Motion
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چکیده
In this paper we present a statistical method for estimating the relative geometry between two images and give useful methods to characterise motion estimation error. We argue that the estimation of the camera motion should be done in a statistical framework and describe a solution for the case of calibrated images. Statistical bootstrap is used to compute the underlying probability structure of the essential matrix estimator. Based on this probability a new estimator is proposed. We show that the estimation accuracy of our method is higher than that of currently available methods.
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