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
Exact Two-Image Structure from Motion
IEEE Transactions on Pattern Analysis and Machine Intelligence
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
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We describe two new algorithms for two frame structure from motion from tracked point features. One is the first fast algorithm for computing an exact least squares estimate. It exploits our observation that the rotationally invariant least squares error can be written in a simple form that depends just on the motion. The other is essentially as accurate as the least squares estimate and is more efficient, probably faster, and potentially more robust than previous algorithms of comparable accuracy. We also analyze theoretically the accuracy of the optical flow approximation to the least squares error.