2-Point linear algorithm for camera translation vector estimation with known rotation

Authors:
Changming Sun
Affiliations:
CSIRO Mathematical and Information Sciences, Locked Bag 17, North Ryde, NSW 1670 (Australia) changming.sun@cmis.csiro.au
Venue:
Robotica
Year:
2000

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Abstract

This paper introduces a simple method for obtaining the pure 3-D translational motion parameter (without rotation) and the translation parameter with a known rotation of a camera. Once the translation vector is available, the 3-D structure of an object can also be obtained. The minimum number of matching points in the two images can be as few as two, and the equations to be solved are linear. Synthetic and real image tests has been performed, and good results have been obtained.