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
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
Multiple view geometry in computer vision
Multiple view geometry in computer vision
Fast and Accurate Algorithms for Projective Multi-Image Structure from Motion
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
A Factorization Based Algorithm for Multi-Image Projective Structure and Motion
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume II - Volume II
Structure from Linear or Planar Motions
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Factorization Methods for Projective Structure and Motion
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
A unifying framework for structure and motion recovery from image sequences
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
A Factorization Method for Structure from Planar Motion
WACV-MOTION '05 Proceedings of the IEEE Workshop on Motion and Video Computing (WACV/MOTION'05) - Volume 2 - Volume 02
A 3D Shape Constraint on Video
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiframe Motion Segmentation with Missing Data Using PowerFactorization and GPCA
International Journal of Computer Vision
Efficient stereoscopic ranging via stochastic sampling of match quality
IEEE Transactions on Image Processing
5D motion subspaces for planar motions
ECCV'10 Proceedings of the 11th European conference on computer vision conference on Computer vision: Part III
Multilinear Factorizations for Multi-Camera Rigid Structure from Motion Problems
International Journal of Computer Vision
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We study the multi-frame structure from motion problem when the camera translates on a plane with small baselines and arbitrary rotations. This case shows up in many practical applications, for example, in ground robot navigation. We consider the framework for small baselines presented in [8], in which a factorization method is used to compute the structure and motion parameters accurately, efficiently and with guaranteed convergence. When the camera translates on a plane, the algorithm in [8] cannot be applied because the estimation matrix drops rank, causing the equations to be no longer linear. In this paper, we show how to linearly solve those equations, while preserving the accuracy, speed and convergence properties of the non-planar algorithm. We evaluate the proposed algorithms on synthetic and real image sequences, and compare our results with those of the optimal algorithm. The proposed algorithms are very fast and accurate, have less than 0.3% outliers and work well for small-to-medium baselines and non-planar as well as planar motions.