Algorithm for analysing optical flow based on the least-squares method
Image and Vision Computing
Analytical results on error sensitivity of motion estimation from two views
Image and Vision Computing - Special issue on the first ECCV 1990
Subspace methods for recovering rigid motion I: algorithm and implementation
International Journal of Computer Vision
Optimization: algorithms and consistent approximations
Optimization: algorithms and consistent approximations
Dual Computation of Projective Shape and Camera Positions from Multiple Images
International Journal of Computer Vision
Effects of errors in the viewing geometry on shape estimation
Computer Vision and Image Understanding
A Multi-Frame Structure-from-Motion Algorithm under Perspective Projection
International Journal of Computer Vision - Special issue on computer vision research at NEC Research Institute
International Journal of Computer Vision - Special issue on image-based servoing
Multi-Frame Estimation of Planar Motion
IEEE Transactions on Pattern Analysis and Machine Intelligence
Structure from Motion: Beyond the Epipolar Constraint
International Journal of Computer Vision
Combining Intensity and Motion for Incremental Segmentation and Tracking Over Long Image Sequences
ECCV '92 Proceedings of the Second European Conference on Computer Vision
The Rank 4 Constraint in Multiple (=3) View Geometry
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume II - Volume II
Structure from Planar Motions with Small Baselines
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part II
Trilinearity of three perspective views and its associated tensor
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Multi-View Subspace Constraints on Homographies
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
A Nonlinear Method for Estimating the Projective Geometry of 3 Views
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Structure from Motion Using Sequential Monte Carlo Methods
International Journal of Computer Vision
Persistent tracking of static scene features using geometry
Computer Vision and Image Understanding
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We propose to combine the information from multiple motion fields by enforcing a constraint on the surface normals (3D shape) of the scene in view. The fact that the shape vectors in the different views are related only by rotation can be formulated as a rank = 3 constraint. This constraint is implemented in an algorithm which solves 3D motion and structure estimation as a practical constrained minimization. Experiments demonstrate its usefulness as a tool in structure from motion providing very accurate estimates of 3D motion.