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Transitory image sequences, asymptotic properties, and estimation of
motion and structure Weng, J. Yuntao Cui and Narendra
Ahuja A transitory image sequence is one in which no
scene element is visible through the entire sequence. This article deals with
some major theoretical and algorithmic issues associated with the task of
estimating structure and motion from transitory image sequences. It is shown
that integration with a transitory sequence has properties that are very
different from those with a nontransitory one. Two
representations, world-centered (WC) and camera-centered (CC), behave very
differently with a transitory sequence. The asymptotic error rates derived in
this article indicate that one representation is significantly superior to
the other, depending on whether one needs camera-centered or world-centered
estimates. We introduce an efficient "cross-frame" estimation
technique for the CC representation. For the WC representation, our analysis
indicates that a good technique should be based on camera global pose instead
of interframe motions. Rigorous experiments were
conducted with real-image sequences taken by a fully calibrated camera system.
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