A linear algorithm for motion estimation using straight line correspondences

This paper presents a linear algorithm for determining 3D motion parameters of a rigid object based on straight line correspondences. The algorithm requires a minimum number of thirteen line correspondences over three frames. It includes three steps: first, three intermediate matrices are computed; then, several candidate solutions of the rotation matrices and translation vectors are obtained from the intermediate matrices; finally, motion parameters are uniquely determined by the physical constraints of 3D rotations and translations. Some simulation results are also given.

[1]  John F. Canny,et al.  A Computational Approach to Edge Detection , 1986, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[2]  H. C. Longuet-Higgins,et al.  A computer algorithm for reconstructing a scene from two projections , 1981, Nature.

[3]  Tomaso A. Poggio,et al.  On Edge Detection , 1984, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[4]  J. Aggarwal,et al.  LINE-BASED COMPUTATION OF STRUCTURE AND MOTION USING ANGULAR INVARIANCE. , 1986 .

[5]  R. Woodham,et al.  Determining the movement of objects from a sequence of images , 1980, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[6]  Alan M. Wood,et al.  Motion analysis , 1986 .

[7]  Ellen C. Hildreth,et al.  The detection of intensity changes by computer and biological vision systems , 1983, Comput. Vis. Graph. Image Process..

[8]  Jake K. Aggarwal,et al.  Experiments in Intensity Guided Range Sensing Recognition of Three-Dimensional Objects , 1985, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[9]  T S Huang,et al.  Two-view motion analysis: a unified algorithm. , 1986, Journal of the Optical Society of America. A, Optics and image science.

[10]  Narendra Ahuja,et al.  ERROR ANALYSIS OF MOTION PARAMETER ESTIMATION FROM IMAGE SEQUENCES. , 1987 .

[11]  Jake K. Aggarwal,et al.  Recognition of Polyhedra from Range Data , 1986, IEEE Expert.

[12]  Minas E. Spetsakis,et al.  Closed Form Solution to the Structure from Motion Problem from Line Correspondences , 1987, AAAI.

[13]  Thomas S. Huang,et al.  Uniqueness and Estimation of Three-Dimensional Motion Parameters of Rigid Objects with Curved Surfaces , 1984, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[14]  Thomas S. Huang,et al.  Estimation of rigid body motion using straight line correspondences , 1986, Comput. Vis. Graph. Image Process..