In Structure from Motion algorithms, the error in the estimated motion aaects each reconstructed 3D point in a systematic way. This paper attempts to isolate the eeect of the motion error (as correlations in the structure error) and shows theoretically that these correlations can improve existing multi{frame Structure from Motion techniques. Finally it is shown that new experimental results and...

This paper examines the robustness of correspondence{based approaches to structure from motion. Unlike earlier studies it is proven in an algorithm{ independent way, that small absolute errors in image displacements cause absolute errors in rotational motion parameters signi cant enough to lead to large relative errors in the determination of environmental depth. Even if the exact motion parame...

We investigate the camera geometry of lines parallel in the world. In particular, we formalize the known rotational constraints and add new linear constraints on camera position. The constraints on camera position do not require the cameras to be viewing the same lines, thus providing applications for occluded scenes and calibration of cameras for which fields of view do not intersect. The cons...

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A method f o r s t r u c t u r e f rom mot ion i s p r e s e n t e d . The method makes a m o t i o n assumpt ion about the o b j e c t s b e i n g v i ewed . The m o t i o n assumpt ion i s t h a t a l l m o t i o n c o n s i s t s o f t r a n s l a t i o n s and r o t a t i o n s about a f i x e d a x i s . P a r a l l e l p r o j e c t i o n i s a l s o assumed. T h i s makes i t p o s s i b...