Brooks, M.J.Chojnacki, W.van den Hengel, A.Baumela, L.Burkhardt, H.Neumann, B.2018-11-272018-11-271998Lecture Notes in Artificial Intelligence, 1998 / Burkhardt, H., Neumann, B. (ed./s), vol.1406, pp.281-295354064569197835406456960302-97431611-3349http://hdl.handle.net/2440/116359Robust 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.en© Springer-Verlag Berlin Heidelberg 1998Conference paper003004331210.1007/BFb00556732-s2.0-84957686816178148Chojnacki, W. [0000-0001-7782-1956]van den Hengel, A. [0000-0003-3027-8364]