This paper presents a linear algorithm for determining 3D motion parameters of a rigid object based on straight line correspondences. The algorithm requires a minimum number of thirteen line correspondences over three frames. It includes three steps: first, three intermediate matrices are computed; then, several candidate solutions of the rotation matrices and translation vectors are obtained from the intermediate matrices; finally, motion parameters are uniquely determined by the physical constraints of 3D rotations and translations. Some simulation results are also given.
ASJC Scopus subject areas
- Environmental Science(all)
- Earth and Planetary Sciences(all)