TY - GEN
T1 - Sufficient conditions for double or unique solution of motion and structure
AU - Hu, Xiaoping
AU - Ahuja, Narendra
PY - 1991
Y1 - 1991
N2 - Several sufficient conditions are presented for a double or unique solution of the problem of motion and structure from two monocular images. It is shown that: 5 correspondences of points that do not lie on two lines in the image plane suffice to determine a pure rotation uniquely; 6 correspondences of points that do not lie on two lines in the image plane and do not correspond to space points lying on a specific quadric surface suffice to determine a motion with nonzero translation uniquely; each Maybank quadric can sustain at most two physically acceptable motion solutions and surface interpretations, provided that a sufficient number of correspondences are present; in the plane motion case, 6 correspondences of points that do not lie on a quadric curve in the image plane will only admit the true motion and structure and their duals as solutions. Several properties of the essential matrix T × R and the plane motion matrix R + TNT, both of which are frequently used in the motion and structure estimation problem, are listed.
AB - Several sufficient conditions are presented for a double or unique solution of the problem of motion and structure from two monocular images. It is shown that: 5 correspondences of points that do not lie on two lines in the image plane suffice to determine a pure rotation uniquely; 6 correspondences of points that do not lie on two lines in the image plane and do not correspond to space points lying on a specific quadric surface suffice to determine a motion with nonzero translation uniquely; each Maybank quadric can sustain at most two physically acceptable motion solutions and surface interpretations, provided that a sufficient number of correspondences are present; in the plane motion case, 6 correspondences of points that do not lie on a quadric curve in the image plane will only admit the true motion and structure and their duals as solutions. Several properties of the essential matrix T × R and the plane motion matrix R + TNT, both of which are frequently used in the motion and structure estimation problem, are listed.
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U2 - 10.1109/icassp.1991.150895
DO - 10.1109/icassp.1991.150895
M3 - Conference contribution
AN - SCOPUS:0026396364
SN - 0780300033
T3 - Proceedings - ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing
SP - 2445
EP - 2448
BT - Proceedings - ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing
PB - Publ by IEEE
T2 - Proceedings of the 1991 International Conference on Acoustics, Speech, and Signal Processing - ICASSP 91
Y2 - 14 May 1991 through 17 May 1991
ER -