Robust techniques for the estimation of structure from motion in the uncalibrated case
Date
1998
Authors
Brooks, M.J.
Chojnacki, W.
van den Hengel, A.
Baumela, L.
Editors
Burkhardt, H.
Neumann, B.
Neumann, B.
Advisors
Journal Title
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Volume Title
Type:
Conference paper
Citation
Lecture Notes in Artificial Intelligence, 1998 / Burkhardt, H., Neumann, B. (ed./s), vol.1406, pp.281-295
Statement of Responsibility
Michael J. Brooks, Wojciech Chojnacki, Anton van den Hengel, Luis Baumela
Conference Name
5th European Conference on Computer Vision (ECCV'98) (2 Jun 1998 - 6 Jun 1998 : Freiburg, Germany)
Abstract
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.
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Dissertation Note
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© Springer-Verlag Berlin Heidelberg 1998