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

Abstract

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
Pages290-297
Number of pages8
StatePublished - Dec 1 1989
Externally publishedYes
EventProceedings: Workshop on Visual Motion - Washington, DC, USA
Duration: Mar 28 1989Mar 31 1989

Publication series

NameProc Workshop Visual Motion

Other

OtherProceedings: Workshop on Visual Motion
CityWashington, DC, USA
Period3/28/893/31/89

ASJC Scopus subject areas

  • Engineering(all)

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