Multiple Interpretations of the Shape and Motion of Objects from Two Perspective Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Optimal Visual Motion Estimation: A Note
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robotics and Autonomous Systems
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Before corresponding points in images taken with two cameras can be used to recover distances to objects in a scene, one has to determine the position and orientation of one camera relative to the other. This is the classic photogrammetric problem of {\it relative orientation}, central to the interpretation of binocular stereo information. Described here is a particularly simple iterative scheme for recovering relative orientation that, unlike existing methods, does not require a good initial guess for the baseline and the rotation.