FROM TWO-VIEW MOTION EQUATIONS TO THREE-DIMENSIONAL MOTION PARAMETERS AND SURFACE STRUCTURE: A DIRECT AND STABLE ALGORITHM.

Given a set of corresponding points from two perspective projection images of a moving rigid object, the authors present a direct and stable algorithm to solve for the parameters of the moving object. This involves determining the rotation, the translation direction and the relative depths of object points. Unlike previous algorithms, the current algorithm does not require determining the mode of motion, i. e. , whether or not the motion is a pure rotation. As easily seen, it is hard or even impossible to determine the mode of motion in the presence of noise.