Experience in using homotopy methods to solve motion estimation problems

Robert J. Holt, Arun N. Netravali, Thomas S. Huang

Research output: Contribution to journalConference articlepeer-review


We consider the problem of determining motion (three-dimensional rotation and translation) of rigid objects from their images taken at two time instants. The locations of the perspective projection of each of n feature points onto the image plane from the surface of the rigid body are assumed to be known at those times. We state some results of previous work, and in the important n = 5 case show how all the solutions can be obtained nearly six times as quickly as before. In the cases n = 6 and n = 7, all the solutions can be obtained approximately fifteen and thirty times more quickly, respectively, than by the previous method.

Original languageEnglish (US)
Pages (from-to)219-226
Number of pages8
JournalProceedings of SPIE - The International Society for Optical Engineering
StatePublished - Aug 1 1990
EventCurves and Surfaces in Computer Vision and Graphics 1990 - Santa Clara, United States
Duration: Feb 11 1990Feb 16 1990

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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