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Motion and structure from line correspondences;
closed-form solution, uniqueness, and optimization Weng, J. Huang, T.S. Ahuja, N. This work discusses
estimating motion and structure parameters from line correspondences of a
rigid scene. The authors present a closed-form solution to motion and
structure parameters from line correspondences through three monocular
perspective views. The algorithm makes use of redundancy in the data to
improve the accuracy of the solutions. The uniqueness of the solution is
established, and necessary and sufficient conditions for degenerate spatial
line configurations are given. Optimization has been employed to further
improve the accuracy of the estimates in the presence of noise. Simulations
have shown that the errors of the optimized estimates are close to the
theoretical lower error bound. Full Text: PDF 1.516MB |