TWO-STEP APPROACH TO OPTIMAL MOTION AND STRUCTURE ESTIMATION.

Juyang Weng, Thomas S. Huang, Narendra Ahuja

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A two-step approach to motion and structure estimation from monocular perspective images is proposed. The approach consists of two steps. The first step is estimating the motion parameters using a linear algorithm that gives a closed-form solution for motion parameters and scene structure. The second step is minimizing errors through iteration using the solution obtained from the first step as the initial guess. Though each step by itself can generally solve the problem independently, this two-step approach is superior to each individual step in the sense that it combines the advantages and avoids the disadvantages of both steps. Using the first step, a unique solution can be guaranteed. Using the second step, an optimal solution can be obtained based on a desired criterion. The approach is applicable to any type of features. As an example, an algorithm using point correspondences is discussed in some detail and experimented with. A line-based algorithm is also discussed briefly.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages355-357
Number of pages3
ISBN (Print)0818607793
StatePublished - Dec 1 1987

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Weng, J., Huang, T. S., & Ahuja, N. (1987). TWO-STEP APPROACH TO OPTIMAL MOTION AND STRUCTURE ESTIMATION. In Unknown Host Publication Title (pp. 355-357). IEEE.