Motion and Structure From Two Perspective Views: Algorithms, Error Analysis, and Error Estimation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Inherent Ambiguities in Recovering 3-D Motion and Structure from a Noisy Flow Field
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
Subspace methods for recovering rigid motion I: algorithm and implementation
International Journal of Computer Vision
Shape and motion from image streams under orthography: a factorization method
International Journal of Computer Vision
Linear subspace methods for recovering translational direction
Proceedings of the 1991 York conference on Spacial vision in humans and robots
Shape Ambiguities in Structure From Motion
IEEE Transactions on Pattern Analysis and Machine Intelligence
Recursive 3-D Visual Motion Estimation Using Subspace Constraints
International Journal of Computer Vision
On the Optimization Criteria Used in Two-View Motion Analysis
IEEE Transactions on Pattern Analysis and Machine Intelligence
An Experimental Study of Projective Structure From Motion
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
Extracting Structure from Optical Flow Using the Fast Error Search Technique
International Journal of Computer Vision
A critique of structure-from-motion algorithms
Computer Vision and Image Understanding
Theory of Reconstruction from Image Motion
Theory of Reconstruction from Image Motion
Optimal Motion and Structure Estimation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Rigorous Bounds for Two-Frame Structure from Motion
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume II - Volume II
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Comparison of Approaches to Egomotion Computation
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Structure from Linear or Planar Motions
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Computing the Camera Heading from Multiple Frames
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Optimal Structure from Motion: Local Ambiguities and Global Estimates
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Multiframe structure from motion in perspective
VSR '95 Proceedings of the IEEE Workshop on Representation of Visual Scenes
New Algorithms for Two-Frame Structure from Motion
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
Fast and Accurate Algorithms for Projective Multi-Image Structure from Motion
IEEE Transactions on Pattern Analysis and Machine Intelligence
Understanding the Behavior of SFM Algorithms: A Geometric Approach
International Journal of Computer Vision
Structure from Motion Causally Integrated Over Time
IEEE Transactions on Pattern Analysis and Machine Intelligence
Exact Two-Image Structure from Motion
IEEE Transactions on Pattern Analysis and Machine Intelligence
The least-squares error for structure from infinitesimal motion
International Journal of Computer Vision
Error characteristics of SFM with erroneous focal length
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part I
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This paper demonstrates the existence of a new, approximate, intrinsic ambiguity in Euclidean structure from motion (SFM) which occurs as generically as the bas-relief ambiguity but, unlike it, strengthens for scenes with more depth variation. The ambiguity does not occur in projective SFM, but the reasons for this make projective reconstructions more likely to have large errors. Our analysis gives a semiquantitative characterization of the least-squares error surface over a domain complementary to that analyzed by Jepson, Heeger, and Maybank. As part of our analysis, we show that the least-squares error for infinitesimal motion驴the optical-flow error驴gives a good approximation to the least-squares error for moderate finite motions. We propose that many high-error local minima occur for epipoles in or near the image. We also establish the existence of a new local minimum in minimizing over the rotation, given the translation direction.