Estimation of Object Motion Parameters from Noisy Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Applications of dynamic monocular machine vision
Machine Vision and Applications
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
Three-dimensional motion computation and object segmentation in a long sequence of stereo frames
International Journal of Computer Vision
Direct Recovery of Motion and Shape in the General Case by Fixation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Shape and motion from image streams under orthography: a factorization method
International Journal of Computer Vision
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
Recursive-batch estimation of motion and structure from monocular image sequences
CVGIP: Image Understanding
Recursive affine structure and motion from image sequences
ECCV '94 Proceedings of the third European conference on Computer vision (vol. 1)
A necessary and sufficient condition for the perspective observability problem
Systems & Control Letters
3-D structure from visual motion: modeling, representation and observability
Automatica (Journal of IFAC)
Reducing "Structure From Motion": A General Framework for Dynamic Vision Part 1: Modeling
IEEE Transactions on Pattern Analysis and Machine Intelligence
Optimal Structure from Motion: Local Ambiguities and Global Estimates
International Journal of Computer Vision
Optimal Motion and Structure Estimation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Recursive Estimation of Motion, Structure, and Focal Length
IEEE Transactions on Pattern Analysis and Machine Intelligence
A New Structure-from-Motion Ambiguity
IEEE Transactions on Pattern Analysis and Machine Intelligence
Motion From Point Matches Using Affine Epipolar Geometry
ECCV '94 Proceedings of the Third European Conference-Volume II on Computer Vision - Volume II
A Paraperspective Factorization Method for Shape and Motion Recovery
ECCV '94 Proceedings of the Third European Conference-Volume II on Computer Vision - Volume II
Gauge Invariance in Projective 3D Reconstruction
MVIEW '99 Proceedings of the IEEE Workshop on Multi-View Modeling & Analysis of Visual Scenes
Multiframe structure from motion in perspective
VSR '95 Proceedings of the IEEE Workshop on Representation of Visual Scenes
Pose Estimation using 3D View-Based Eigenspaces
AMFG '03 Proceedings of the IEEE International Workshop on Analysis and Modeling of Faces and Gestures
Structure from Motion Using Sequential Monte Carlo Methods
International Journal of Computer Vision
Epipolar Constraints for Vision-Aided Inertial Navigation
WACV-MOTION '05 Proceedings of the IEEE Workshop on Motion and Video Computing (WACV/MOTION'05) - Volume 2 - Volume 02
Recursive Estimation of 3D Motion and Surface Structure from Local Affine Flow Parameters
IEEE Transactions on Pattern Analysis and Machine Intelligence
Monocular model-based 3D tracking of rigid objects
Foundations and Trends® in Computer Graphics and Vision
Journal of Mathematical Imaging and Vision
A Unified Algebraic Approach to 2-D and 3-D Motion Segmentation and Estimation
Journal of Mathematical Imaging and Vision
A recursive camera resectioning technique for off-line video-based augmented reality
Pattern Recognition Letters
Lie algebra approach for tracking and 3D motion estimation using monocular vision
Image and Vision Computing
IEEE Transactions on Pattern Analysis and Machine Intelligence
Reducing drift in differential tracking
Computer Vision and Image Understanding
3D Motion from structures of points, lines and planes
Image and Vision Computing
Key-Frame Selection and an LMedS-Based Approach to Structure and Motion Recovery
IEICE - Transactions on Information and Systems
Optic flow-based vision system for autonomous 3D localization and control of small aerial vehicles
Robotics and Autonomous Systems
International Journal of Robotics Research
Controlling virtual cameras based on a robust model-free pose acquisition technique
IEEE Transactions on Multimedia
Estimation of an affine motion
ACC'09 Proceedings of the 2009 conference on American Control Conference
Motion vision based structure estimation in forest environment
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Real-time Quadrifocal Visual Odometry
International Journal of Robotics Research
Stereo vision based motion identification
ICIC'07 Proceedings of the intelligent computing 3rd international conference on Advanced intelligent computing theories and applications
Stereo vision based motion parameter estimation
ICIC'09 Proceedings of the Intelligent computing 5th international conference on Emerging intelligent computing technology and applications
Visual-inertial simultaneous localization, mapping and sensor-to-sensor self-calibration
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
Range identification for nonlinear parameterizable paracatadioptric systems
Automatica (Journal of IFAC)
MoCap-based camera tracking for VFX
ICACT'10 Proceedings of the 12th international conference on Advanced communication technology
Visual-Inertial Sensor Fusion: Localization, Mapping and Sensor-to-Sensor Self-calibration
International Journal of Robotics Research
Visual-inertial navigation, mapping and localization: A scalable real-time causal approach
International Journal of Robotics Research
Adaptive view-based appearance models
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Real-time and robust monocular SLAM using predictive multi-resolution descriptors
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
3D-Based synthesis and 3d reconstruction from uncalibrated images
KES'05 Proceedings of the 9th international conference on Knowledge-Based Intelligent Information and Engineering Systems - Volume Part III
Editors Choice Article: Visual SLAM: Why filter?
Image and Vision Computing
Impact of Landmark Parametrization on Monocular EKF-SLAM with Points and Lines
International Journal of Computer Vision
Camera localization in distributed networks using trajectory estimation
Journal of Electrical and Computer Engineering
International Journal of Robotics Research
Camera-IMU-based localization: Observability analysis and consistency improvement
International Journal of Robotics Research
Closed-Form Solution of Visual-Inertial Structure from Motion
International Journal of Computer Vision
| Hi-index | 0.15 |
We describe an algorithm for reconstructing three-dimensional structure and motion causally, in real time from monocular sequences of images. We prove that the algorithm is minimal and stable, in the sense that the estimation error remains bounded with probability one throughout a sequence of arbitrary length. We discuss a scheme for handling occlusions (point features appearing and disappearing) and drift in the scale factor. These issues are crucial for the algorithm to operate in real time on real scenes. We describe in detail the implementation of the algorithm, which runs on a personal computer and has been made available to the community. We report the performance of our implementation on a few representative long sequences of real and synthetic images. The algorithm, which has been tested extensively over the course of the past few years, exhibits honest performance when the scene contains at least 20-40 points with high contrast, when the relative motion is slow compared to the sampling frequency of the frame grabber (30Hz), and the lens aperture is large enough (typically more than 30^o of visual field).