Structure And Motion From Two Perspective Views Via Planar Patch

We present a method which uses both a planar patch and points for an analysis of time-varying imagery. From our theory, two pieces of information are required for the unique recovery of structure from motion. One is the image motion of a plane and the other one is the image motion of points not on the plane. For the former, one needs four points while for the latter one need two points. Our technique has the following characteristics: (i) it is efficient, (ii) it appears to be very robust over a wide range of simulations, (iii) it sheds some new light on some previous work, and (iv) it has geometric meaning for each step of the derivation of the solution.

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