A method is presented for estimating rigid body motion using straight-line correspondences. In the case of pure rotation, two-line correspondences over two frames are sufficient to determine the rotation matrix. For pure translation, it can be determined with five-line correspondences over three frames. In solving the general case it was found that the rotation and translation are separable. The rotation can be computed by iterative methods using six or more line correspondences over three frames; the translation can be solved by linear methods.
|Original language||English (US)|
|Title of host publication||Unknown Host Publication Title|
|Number of pages||6|
|State||Published - 1986|
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