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Closed-form solution+maximum
likelihood: a robust approach to motion and structure estimation Weng, J. Ahuja, N. Huang, T.S. A robust approach is
presented to estimation motion and structure from image sequences. The
approach consists of two steps. The first step is estimating the motion
parameters using a robust linear algorithm that gives a closed-form solution
for motion parameters and scene structure. The second step is improving the
results from the linear algorithm using maximum-likelihood estimation. An
algorithm using point correspondences from monocular images is discussed in
detail and experimented with. An algorithm using line correspondences is
briefly discussed. The simulations show that maximum-likelihood estimation
achieves remarkable improvement over the preliminary estimates given by the
linear algorithm. The algorithm is also tested on images of real scenes from
automatically computed displacement field. The proposed approach is
independent of the exact tokens used to establish correspondences, e.g.
displacement flow, optical flow, or discrete features. Two or more types of
tokens may be used, for monocular or binocular images. Full Text: PDF 0.66MB |