Hypothesize-and-Verify Method for Two 3D View Motion Analysis

We present in this chapter a method based on the hypothesize-and-verify paradigm to register two sets of 3D line segments obtained from stereo and to Computerte the transformation (motion) between them. We assume that the environment is static and that it is only the stereo rig that has moved. The multiple-object-motions problem is dealt with in Chap. 9.