Determining three-D motion and structure of a rigid body using straight line correspondences.

Investigates the determination of 3-D motion and structure of a rigid body containing straight line segments, given a sequence of (2-D) perspective views. Central projections of 3-D lines over the image sequence are used, and line correspondences are assumed to be given. The approach is to use central projection on the unit sphere in the analysis. Three basic types of rigid motion are considered - pure rotation about an axis through the origin, pure translation, and a general rigid motion. -from Author