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Estimating motion/structure from line correspondences: a robust
linear algorithm and uniqueness theorems Juyang Weng Yuncai Liu Huang, T.S. and
Narendra
Ahuja A closed-form solution to motion and structure
from line correspondences in monocular perspective image sequences is
presented. The algorithm requires a minimum of 13 lines over three
perspective views. Redundancy in the data provides overdetermination
to combat noise. The estimates can be used as an initial guess for further
optimization. A unique solution to motion and structure is guaranteed if and
only if the line configuration is not degenerate and the translation between
any two views does not vanish. Necessary and sufficient conditions for
degenerate spatial line configurations have been derived. Simulations are
performed which show the performance of the algorithm in the presence. Full Text: PDF (476 KB) |