Australian Institute for Machine Learning publications

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Robust techniques for the estimation of structure from motion in the uncalibrated case
(Springer, 1998) Brooks, M.J.; Chojnacki, W.; van den Hengel, A.; Baumela, L.; 5th European Conference on Computer Vision (ECCV'98) (2 Jun 1998 - 6 Jun 1998 : Freiburg, Germany); Burkhardt, H.; Neumann, B.
Robust techniques are developed for determining structure from motion in the uncalibrated case. The structure recovery is based on previous work [7] in which it was shown that a camera undergoing unknown motion and having an unknown, and possibly varying, focal length can be self-calibrated via closed-form expressions in the entries of two matrices derivable from an instantaneous optical flow field. Critical to the recovery process is the obtaining of accurate numerical estimates, up to a scalar factor, of these matrices in the presence of noisy optical flow data. We present techniques for the determination of these matrices via least-squares methods, and also a way of enforcing a dependency constraint that is imposed on these matrices. A method for eliminating outlying flow vectors is also given. Results of experiments with real-image sequences are presented that suggest that the approach holds promise.