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Sufficient conditions for double or unique solution of
motion and structure X. Hu and
N. 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.
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