Inherent Ambiguities in Recovering 3-D Motion and Structure from a Noisy Flow Field
IEEE Transactions on Pattern Analysis and Machine Intelligence
Statistical Analysis of Inherent Ambiguities in Recovering 3-D Motion from a Noisy Flow Field
IEEE Transactions on Pattern Analysis and Machine Intelligence
Passive navigation as a pattern recognition problem
International Journal of Computer Vision - Special issue on qualitative vision
Shape Ambiguities in Structure From Motion
IEEE Transactions on Pattern Analysis and Machine Intelligence
Effects of errors in the viewing geometry on shape estimation
Computer Vision and Image Understanding
Geometry of Distorted Visual Space and Cremona Transformation
International Journal of Computer Vision
Motion and Structure from Image Sequences
Motion and Structure from Image Sequences
Critical Motion Sequences for Monocular Self-Calibration and Uncalibrated Euclidean Reconstruction
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Optimal Structure from Motion: Local Ambiguities and Global Estimates
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Generalized image matching by the method of differences
Generalized image matching by the method of differences
From Projective to Euclidean Space Under any Practical Situation, a Criticism of Self-Calibration
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Understanding the Behavior of SFM Algorithms: A Geometric Approach
International Journal of Computer Vision
Depth distortion under calibration uncertainty
Computer Vision and Image Understanding
Head Movements for Depth Perception: Praying Mantis versus Pigeon
Autonomous Robots
Acquisition of translational motion by the parallel trinocular
Information Sciences: an International Journal
Motion bias and structure distortion induced by intrinsic calibration errors
Image and Vision Computing
Behaviour of SFM algorithms with erroneous calibration
Computer Vision and Image Understanding
Error analysis of 3-D motion estimation algorithms in the differential case
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Error characteristics of SFM with erroneous focal length
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part I
Error analysis of SFM under weak-perspective projection
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part II
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Given that errors in the estimates for the intrinsic and extrinsic camera parameters are inevitable, it is important to understand the behaviour of the resultant distortion in depth recovered under different motion-scene configurations. The main interest in this study is to look for generic motion type that can render depth recovery more robust and reliable. To this end, lateral and forward motions are compared both under calibrated and uncalibrated scenarios. For lateral motion, we found that although Euclidean reconstruction is difficult, ordinal depth information is obtainable; while for forward motion, depth information (even partial one) is difficult to recover. In the uncalibrated case, with fixed intrinsic parameters, the preceding statements still hold. However, if intrinsic parameter variations are allowed, then for lateral motion, depth relief can only be preserved locally. In general, lateral motion yields a distortion relationship that belongs to the projective transformation of a very simple type, while the distortion transformations for general motions including forward motion belong to the Cremona transformation. As an aside, we also provide an analysis of the distortion in the depth recovered using the least square procedure as compared to the epipolar reconstruction approach.