Motion and Structure From Two Perspective Views: Algorithms, Error Analysis, and Error Estimation
IEEE Transactions on Pattern Analysis and Machine Intelligence
International Journal of Computer Vision
Geometric computation for machine vision
Geometric computation for machine vision
Linear subspace methods for recovering translational direction
Proceedings of the 1991 York conference on Spacial vision in humans and robots
Projective Reconstruction and Invariants from Multiple Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
The Development and Comparison of Robust Methodsfor Estimating the Fundamental Matrix
International Journal of Computer Vision
Computer Vision and Image Understanding
On the Optimization Criteria Used in Two-View Motion Analysis
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
Optimal Structure from Motion: Local Ambiguities and Global Estimates
International Journal of Computer Vision
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Fast and Accurate Algorithms for Projective Multi-Image Structure from Motion
IEEE Transactions on Pattern Analysis and Machine Intelligence
A New Structure-from-Motion Ambiguity
IEEE Transactions on Pattern Analysis and Machine Intelligence
Reconstruction from Uncalibrated Sequences with a Hierarchy of Trifocal Tensors
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part I
Euclidean Reconstruction from Uncalibrated Views
Proceedings of the Second Joint European - US Workshop on Applications of Invariance in Computer Vision
Optimal Structure from Motion: Local Ambiguities and Global Estimates
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
New Algorithms for Two-Frame Structure from Motion
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
Understanding the Relationship Between the Optimization Criteria in Two-View Motion Analysis
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Structure from Motion with Wide Circular Field of View Cameras
IEEE Transactions on Pattern Analysis and Machine Intelligence
Pose and Motion Recovery from Feature Correspondences and a Digital Terrain Map
IEEE Transactions on Pattern Analysis and Machine Intelligence
Globally Optimal Estimates for Geometric Reconstruction Problems
International Journal of Computer Vision
Design Through Operation of an Image-Based Velocity Estimation System for Mars Landing
International Journal of Computer Vision
Quasiconvex Optimization for Robust Geometric Reconstruction
IEEE Transactions on Pattern Analysis and Machine Intelligence
Triangulation for points on lines
Image and Vision Computing
Omnidirectional camera model and epipolar geometry estimation by RANSAC with bucketing
SCIA'03 Proceedings of the 13th Scandinavian conference on Image analysis
Camera Models and Fundamental Concepts Used in Geometric Computer Vision
Foundations and Trends® in Computer Graphics and Vision
Estimation of omnidirectional camera model from epipolar geometry
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
International Journal of Computer Vision
Calibration of omnidirectional camera by considering inlier distribution
RSCTC'06 Proceedings of the 5th international conference on Rough Sets and Current Trends in Computing
PCM'06 Proceedings of the 7th Pacific Rim conference on Advances in Multimedia Information Processing
Triangulation for points on lines
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part III
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For two-image structure from motion, we present a simple, exact expression for a least-squares image-reprojection error for finite motion that depends only on the motion. Optimal estimates of the structure and motion can be computed by minimizing this expression just over the motion parameters. Also, we present a solution to the triangulation problem: an exact, explicit expression for the optimal structure estimate given the motion. We identify a new ambiguity in recovering the structure for known motion. We study the exact error's properties experimentally and demonstrate that it often has several local minima for forward or backward motion estimates. Our experiments also show that the "reflected" local minimum of Oliensis and Soatto et al. occurs for large translational motions. Our exact results assume that the camera is calibrated and use a least-squares image-reprojection error that applies most naturally to a spherical imaging surface. We approximately extend our approach to the standard least-squares error in the image plane and uncalibrated cameras. We present an improved version of the Sampson error which gives better results experimentally.