Journal ArticleDOI
Estimation of rigid body motion using straight line correspondences
Yuncai Liu,Thomas S. Huang +1 more
TLDR
An algorithm for the estimation of rigid body motion using straight line correspondences using straightline correspondences is presented and it is found that the rotation and the translation parts are separable.Abstract:
An algorithm for the estimation of rigid body motion using straight line correspondences is presented in this paper. In the case of pure translation, we present a linear algorithm using 5 line correspondences over 3 frames. In the case of general motion, it is found that the rotation and the translation parts are separable. The rotation part can be computed by the iterative solution of nonlinear equations based on 6 or more line correspondences over 3 frames. After the rotation is found, the translation part is determined just as in the pure translation case. For the special case of constant rotation, the convergence range of the iterative method is wide enough so that global search can be used to estimate the rotation matrix. However, for the case of variable rotation, global search appears computationally infeasible at present.read more
Citations
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Journal ArticleDOI
Epipolar-plane image analysis: An approach to determining structure from motion
TL;DR: This article describes the application of a technique for building a three-dimensional description of a static scene from a dense sequence of images, and shows how projective duality is used to extend the analysis to a wider class of camera motions and object types that include curved and moving objects.
Journal ArticleDOI
On the computation of motion from sequences of images-A review
TL;DR: Two distinct paradigms are highlighted: (i) the feature- based approach and (ii) the optical-flow-based approach: the comparative merits/demerits of these approaches are discussed.
Journal ArticleDOI
Motion and structure from feature correspondences: a review
Thomas S. Huang,A.N. Netravali +1 more
TL;DR: Some of the mathematical techniques borrowed from algebraic geometry, projective geometry, and homotopy theory that are required to solve three-dimensional (3D) motion and structure of rigid objects when their corresponding features are known at different times or are viewed by different cameras are mentioned.
Journal ArticleDOI
Determination of camera location from 2-D to 3-D line and point correspondences
TL;DR: A method for the determination of camera location from two-dimensional to three-dimensional (3-D) straight line or point correspondences is presented and results can be obtained in the presence of noise if more than the minimum required number of correspondences are used.
Journal ArticleDOI
Omni-directional stereo
TL;DR: From two panoramic views at the two planned locations, a modified binocular stereo method yields a more precise, but with direction-dependent uncertainties, local map, which is integrated into a more reliable global representation of the world with the adjacent local maps.
References
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Journal ArticleDOI
A computer algorithm for reconstructing a scene from two projections
TL;DR: A simple algorithm for computing the three-dimensional structure of a scene from a correlated pair of perspective projections is described here, when the spatial relationship between the two projections is unknown.
Journal ArticleDOI
Uniqueness and Estimation of Three-Dimensional Motion Parameters of Rigid Objects with Curved Surfaces
Roger Y. Tsai,Thomas S. Huang +1 more
TL;DR: In this article, it was shown that seven point correspondences are sufficient to uniquely determine from two perspective views the three-dimensional motion parameters (within a scale factor for the translations) of a rigid object with curved surfaces.
Journal ArticleDOI
Determining the movement of objects from a sequence of images
TL;DR: In this paper, the problem of determining the 3D model and movement of an object from a sequence of two-dimensional images is discussed, and a solution to this problem depends on solving a system of nonlinear equations using a modified least squared error method.
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Uniqueness and Estimation of Three-Dimensional Motion Parameters of Rigid Objects with Curved Surfaces
Roger Y. Tsai,Thomas S. Huang +1 more