Journal ArticleDOI
Relative Orientation
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TLDR
A simple iterative scheme for recovering relative orientation that does not require a good initial guess for the baseline and the rotation, and is well known that at least five pairs of rays are needed.Abstract:
Before corresponding points in images taken with two cameras can be used to recover distances to objects in a scene, one has to determine the position and orientation of one camera relative to the other. This is the classic photogrammetric problem of {\it relative orientation}, central to the interpretation of binocular stereo information. Described here is a particularly simple iterative scheme for recovering relative orientation that, unlike existing methods, does not require a good initial guess for the baseline and the rotation.read more
Citations
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Journal ArticleDOI
A method for registration of 3-D shapes
Paul J. Besl,H.D. McKay +1 more
TL;DR: In this paper, the authors describe a general-purpose representation-independent method for the accurate and computationally efficient registration of 3D shapes including free-form curves and surfaces, based on the iterative closest point (ICP) algorithm, which requires only a procedure to find the closest point on a geometric entity to a given point.
Journal ArticleDOI
An efficient solution to the five-point relative pose problem
TL;DR: The algorithm is used in a robust hypothesize-and-test framework to estimate structure and motion in real-time with low delay and is the first algorithm well-suited for numerical implementation that also corresponds to the inherent complexity of the problem.
Proceedings Article
Robot vision
TL;DR: A scheme is developed for classifying the types of motion perceived by a humanlike robot and equations, theorems, concepts, clues, etc., relating the objects, their positions, and their motion to their images on the focal plane are presented.
Journal ArticleDOI
In defense of the eight-point algorithm
TL;DR: This paper shows that by preceding the eight-point algorithm with a very simple normalization (translation and scaling) of the coordinates of the matched points, results are obtained comparable with the best iterative algorithms.
References
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Journal ArticleDOI
Closed-form solution of absolute orientation using unit quaternions
TL;DR: A closed-form solution to the least-squares problem for three or more paints is presented, simplified by use of unit quaternions to represent rotation.
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.
Book
The Interpretation of Visual Motion
TL;DR: In this paper, the authors used the methodology of artificial intelligence to investigate the phenomena of visual motion perception: how the visual system constructs descriptions of the environment in terms of objects, their three-dimensional shape, and their motion through space, on the basis of the changing image that reaches the eye.
Proceedings Article
Robot vision
TL;DR: A scheme is developed for classifying the types of motion perceived by a humanlike robot and equations, theorems, concepts, clues, etc., relating the objects, their positions, and their motion to their images on the focal plane are presented.
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