IEEE Transactions on Pattern Analysis and Machine Intelligence
Motion from point matches: multiple of solutions
International Journal of Computer Vision
Subspace methods for recovering rigid motion I: algorithm and implementation
International Journal of Computer Vision
Linear Differential Algorithm for Motion Recovery: AGeometric Approach
International Journal of Computer Vision
Recursive Estimation of Motion, Structure, and Focal Length
IEEE Transactions on Pattern Analysis and Machine Intelligence
Hierarchical Model-Based Motion Estimation
ECCV '92 Proceedings of the Second European Conference on Computer Vision
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In this paper, we propose a global approach for estimating the motion of a camera which films a static scene. The method is direct, fast and robust and deals with adjacent frames of a sequence. It is based on a quadratic approximation of the observed deformation between two adjacent images, in the case of a scene with constant depth in the camera coordinate system. This condition is very restrictive but we show that, provided translation and depth inverse variations are small enough, the error on the optical flow involved by the constant depths approximation is small. In this context, we propose a new model of camera motion, that allows to separate the image deformation in a similarity and a "purely" projective application, due to change of optical axis direction. This model leads to a quadratic approximation of image deformation that we estimate with an M-estimator; we can then immediatly deduce camera motion parameters.