Using motion from orthographic projections to prune 3-D point matches.

Homer H. Chen, Thomas S. Huang

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


The goodness of a match between points, given their 3-D position estimates, can be evaluated by checking how close corresponding points can be brought to coincide by a rigid motion computed from the given data. The performance of this well-known technique, however, is affected by the data accuracy. In stereo imagery, the depth values (z coordinates) estimated are subject to a higher range of uncertainty than the other two coordinates. The authors present a novel pruning method that discards the z coordinates and uses only x and y coordinates of points to compute the motion. It is noted that this method is more effective in detecting false pairings than the traditional method, which uses full 3-D coordinates. Since only x and y coordinates are used, the method is virtually equivalent to computing motion from orthographic projections. The authors dervive a least-squares solution to this motion problem and show that the determination of rotation and translation can be decoupled. The locus of rotation is proved to be a great circle on a unit quaternion sphere. Results of testing this method on real and random data are shown.

Original languageEnglish (US)
Title of host publicationProc Workshop Visual Motion
Editors Anon
Number of pages8
StatePublished - 1989
Externally publishedYes
EventProceedings: Workshop on Visual Motion - Washington, DC, USA
Duration: Mar 28 1989Mar 31 1989

Publication series

NameProc Workshop Visual Motion


OtherProceedings: Workshop on Visual Motion
CityWashington, DC, USA

ASJC Scopus subject areas

  • General Engineering


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