3-D motion estimation, understanding, and prediction from nosiy image sequences
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robust regression and outlier detection
Robust regression and outlier detection
Motion and Structure From Two Perspective Views: Algorithms, Error Analysis, and Error Estimation
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
Adaptive algorithms and stochastic approximations
Adaptive algorithms and stochastic approximations
Analytical results on error sensitivity of motion estimation from two views
Image and Vision Computing - Special issue on the first ECCV 1990
Estimating the Kinematics and Structure of a Rigid Object from a Sequence of Monocular Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Elements of information theory
Elements of information theory
Visual tracking of known three-dimensional objects
International Journal of Computer Vision
Statistical Analysis of Inherent Ambiguities in Recovering 3-D Motion from a Noisy Flow Field
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
An introduction to signal detection and estimation (2nd ed.)
An introduction to signal detection and estimation (2nd ed.)
A guided tour of computer vision
A guided tour of computer vision
International Journal of Computer Vision
Performance Assessment Through Bootstrap
IEEE Transactions on Pattern Analysis and Machine Intelligence
Determining the Epipolar Geometry and its Uncertainty: A Review
International Journal of Computer Vision
Linear Differential Algorithm for Motion Recovery: AGeometric Approach
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
Dealing with noise in multiframe structure from motion
Computer Vision and Image Understanding
Extracting Structure from Optical Flow Using the Fast Error Search Technique
International Journal of Computer Vision
Regularized Bundle-Adjustment to Model Heads from Image Sequences without Calibration Data
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
Error characterization of the factorization method
Computer Vision and Image Understanding
Statistical Optimization for Geometric Computation: Theory and Practice
Statistical Optimization for Geometric Computation: Theory and Practice
Mathematics of Data Fusion
Three D-Dynamic Scene Analysis: A Stereo Based Approach
Three D-Dynamic Scene Analysis: A Stereo Based Approach
Unbiased Estimation and Statistical Analysis of 3-D Rigid Motion from Two Views
IEEE Transactions on Pattern Analysis and Machine Intelligence
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
Introduction to Stochastic Search and Optimization
Introduction to Stochastic Search and Optimization
Optimal Structure from Motion: Local Ambiguities and Global Estimates
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Face reconstruction from monocular video using uncertainty analysis and a generic model
Computer Vision and Image Understanding - Special issue on Face recognition
IEEE Transactions on Image Processing
Face reconstruction from monocular video using uncertainty analysis and a generic model
Computer Vision and Image Understanding - Special issue on Face recognition
A hierarchy of cameras for 3D photography
Computer Vision and Image Understanding - Model-based and image-based 3D scene representation for interactive visalization
IEEE Transactions on Pattern Analysis and Machine Intelligence
Scanning Depth of Route Panorama Based on Stationary Blur
International Journal of Computer Vision
Stochastic approximation for background modelling
Computer Vision and Image Understanding
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Recent research on structure and motion recovery has focused on issues related to sensitivity and robustness of existing techniques. One possible reason is that in practical applications, the underlying assumptions made by existing algorithms are often violated. In this paper, we propose a framework for 3D reconstruction from short monocular video sequences taking into account the statistical errors in reconstruction algorithms. Detailed error analysis is especially important for this problem because the motion between pairs of frames is small and slight perturbations in its estimates can lead to large errors in 3D reconstruction. We focus on the following issues: physical sources of errors, their experimental and theoretical analysis, robust estimation techniques and measures for characterizing the quality of the final reconstruction. We derive a precise relationship between the error in the reconstruction and the error in the image correspondences. The error analysis is used to design a robust, recursive multi-frame fusion algorithm using “stochastic approximation” as the framework since it is capable of dealing with incomplete information about errors in observations. Rate-distortion analysis is proposed for evaluating the quality of the final reconstruction as a function of the number of frames and the error in the image correspondences. Finally, to demonstrate the effectiveness of the algorithm, examples of depth reconstruction are shown for different video sequences.