An Iterated Estimation of the Motion Parameters of a Rigid Body from Noisy Displacement Vectors
IEEE Transactions on Pattern Analysis and Machine Intelligence
Estimation Three-Dimensional Motion of Rigid Objects from Noisy Observations
IEEE Transactions on Pattern Analysis and Machine Intelligence
A multi-frame approach to visual motion perception
International Journal of Computer Vision
Relative Orientation
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Multi-Frame Structure-from-Motion Algorithm under Perspective Projection
International Journal of Computer Vision - Special issue on computer vision research at NEC Research Institute
Optimal Structure from Motion: Local Ambiguities and Global Estimates
International Journal of Computer Vision
The least-squares error for structure from infinitesimal motion
International Journal of Computer Vision
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The problem of estimating 3D motion in an optimal manner using correspondences of features in two views is analyzed. The importance of having an optimal estimator is twofold: first, for the estimation itself and, second, for the bound it offers on how much sensitivity one can expect from a two-frame, point-based motion algorithm. The optimal estimator turns out to be nonlinear, and for that reason, techniques that provide very good initial guesses for the iterative computation of the optimal estimator are developed.