Subspace methods for recovering rigid motion I: algorithm and implementation
International Journal of Computer Vision
Recursive-batch estimation of motion and structure from monocular image sequences
CVGIP: Image Understanding
Optimal Motion and Structure Estimation
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Four-step Camera Calibration Procedure with Implicit Image Correction
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
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In this article we present a new method for making accurate 3-D measurements from monocular image sequences. The process of determining camera motion is completely separated from 3-D structure estimation. The algorithm has two steps: elimination of rotations and estimation of the camera translation. Elimination of rotations is based on pre-calibration, and estimation of the camera translation is based on locating the focus of expansion from image disparities. The method proposed here utilizes the total least squares estimation technique. By using the motion data, the 3-D coordinates of the measurement points can be solved linearly up to a scale factor. Due to the nonrecursive nature of the method, it provides a fast approach for processing long image sequences in an accurate manner.