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Sufficient conditions for double or unique solution of motion and
structure Hu, X. and
Narendra
Ahuja Several sufficient conditions are presented for
a double or unique solution of the problem of motion and structure from two
monocular images. It is shown that: five correspondences of points that do
not lie on two lines in the image plane suffice to determine a pure rotation
uniquely; six correspondences of points that do not lie on two lines in the
image plane and do not correspond to space points lying on a specific quadric
surface suffice to determine a motion with nonzero translation uniquely; each
Maybank quadric can sustain at most two physically
acceptable motion solutions and surface interpretations, provided that a
sufficient number of correspondences are present; in the plane motion case,
six correspondences of points that do not lie on a quadric curve in the image
plane will only admit the true motion and structure and their duals as
solutions. Several properties of the essential matrix T*R and the plane
motion matrix R+TN/sup T/, both of which are frequently used in the motion
and structure estimation problem, are listed. Full Text: PDF (656 KB) |