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Direct Estimation of Structure and Motion from Multiple Frames

Author(s)
Heel, Joachim
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Abstract
This paper presents a method for the estimation of scene structure and camera motion from a sequence of images. This approach is fundamentally new. No computation of optical flow or feature correspondences is required. The method processes image sequences of arbitrary length and exploits the redundancy for a significant reduction in error over time. No assumptions are made about camera motion or surface structure. Both quantities are fully recovered. Our method combines the "direct'' motion vision approach with the theory of recursive estimation. Each step is illustrated and evaluated with results from real images.
Date issued
1990-03-01
URI
http://hdl.handle.net/1721.1/6004
Other identifiers
AIM-1190
Series/Report no.
AIM-1190
Keywords
motion vision, structure estimation, motion estimation, sKalmun filter, dynamic motion vision, direct motion vision

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  • AI Memos (1959 - 2004)

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