a Long Sequence

We discuss a kinematic model based approach for the estimation of 3-D motion and structure parameters from a sequence of noisy monocular images. The approach is based on representing the constant velocity translation and constant angular velocity motion using nine rectilinear motion parameters, which are the 3D vectors of initial position, linear velocity, and angular velocity. The rotational motion is propagated in the kinematic model using the standard 3 x 3 rotation matrix. The measurements are noisy perturbations of two dimensional image locations of feature points. It is assumed that the 3-D feature points are extracted from the images and matched over the frames. The structure of the moving object is represented by the coordinates of feature points in a 3-D coordinate system fixed on the object. A nonlinear least squares method is used to formulate the batch estimation of motion and structure parameters. Owing to the nonlinearity in perspective projection, a conjugate gradient search method is used to obtain the estimates of motion and structure parameters. Occlusion is allowed among image frames. Images taken at nonuniform instances are also considered. Simulation results are included.