New algorithms for two-frame structure from motion
Published 1 January 1999
J. Oliensis, Yakup Genç
Citations18
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TL;DR
Two new algorithms for two-frame structure from motion from tracked point features are described, including the first fast algorithm for computing an exact least-squares estimate and one that is essentially as accurate as the least-Squares estimate.
Abstract
We describe two new algorithms for two-frame structure from motion from tracked point features. One is the first fast algorithm for computing an exact least-squares estimate. It exploits our observation that the rotationally invariant least-squares error can be written in a simple form that depends just on the motion. The other is essentially as accurate as the least-squares estimate and is more efficient, probably faster, and potentially more robust than previous algorithms of comparable accuracy. We also analyze theoretically the accuracy of the optical-flow approximation to the least-squares error.
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Computer ScienceEngineering
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