A linear algorithm for motion estimation using straight line correspondences

Yuncai Liu, Thomas S. Huang

Research output: Contribution to journalArticlepeer-review


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.

Original languageEnglish (US)
Pages (from-to)35-57
Number of pages23
JournalComputer Vision, Graphics and Image Processing
Issue number1
StatePublished - Oct 1988
Externally publishedYes

ASJC Scopus subject areas

  • Environmental Science(all)
  • Engineering(all)
  • Earth and Planetary Sciences(all)


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