Lines and Points in Three Views and the Trifocal Tensor
International Journal of Computer Vision
In Defense of the Eight-Point Algorithm
IEEE Transactions on Pattern Analysis and Machine Intelligence
The Role of Total Least Squares in Motion Analysis
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume II - Volume II
Ein verallgemeinerter Total Least Squares-Ansatz zur Schätzung der Epipolargeometrie
Mustererkennung 1998, 20. DAGM-Symposium
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The main goal of this paper is to introduce methods for three-view motion analysis that do not need threefold correspondences in the image planes as the well-known trifocal tensor methods do. With this characteristic, the proposed method is a practically very advantageous approach for (ego-)motion analysis and structure from motion. The proposed method starts with three two-view parameter estimates generated by Hartley/Mühlich-equilibrated TLS solutions, enforces geometrical consistency and iteratively optimizes the distances from the set of epipolar lines.