IEEE Transactions on Pattern Analysis and Machine Intelligence
Tracking and data association
Estimation of rigid body motion using straight line correspondences
Computer Vision, Graphics, and Image Processing
Structure from motion using line correspondences
International Journal of Computer Vision
ECCV 90 Proceedings of the first european conference on Computer vision
Constrained nonlinear programming
Optimization
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
A computational approach for corner and vertex detection
International Journal of Computer Vision
Models of statistical visual motion estimation
CVGIP: Image Understanding
Motion and Structure from Image Sequences
Motion and Structure from Image Sequences
Computer Vision
Early Jump-Out Corner Detectors
IEEE Transactions on Pattern Analysis and Machine Intelligence
Optimal Motion and Structure Estimation
IEEE Transactions on Pattern Analysis and Machine Intelligence
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This paper aims to develop a complete algorithm to determine the robot motion and the scene structure using a monocular vision system. It is based on straight lines and significant points extracted on them. In this way, an agreement between the problems to extract or to match points and the limitations of infinite lines to compute structure and motion is established. Many geometrical relations of the lines in the scene are exploited to clear up the coupling between the rotation and the translation of the camera. Several real images have been used to validate the proposed method. The algorithm has been considered for navigation of a mobile robot moving in man-made environments.