Robust Techniques for the Estimation of Structure from Motion in the Uncalibrated Case
Abstract
Robust techniques are developed for determining structure from motion in the uncalibrated case. The structure recovery is based on previous work [7] in which it was shown that a camera undergoing unknown motion and having an unknown, and possibly varying, focal length can be self-calibrated via closed-form expressions in the entries of two matrices derivable from an instantaneous optical flow field. Critical to the recovery process is the obtaining of accurate numerical estimates, up to a scalar factor, of these matrices in the presence of noisy optical flow data. We present techniques for the determination of these matrices via least-squares methods, and also a way of enforcing a dependency constraint that is imposed on these matrices. A method for eliminating outlying flow vectors is also given. Results of experiments with real-image sequences are presented that suggest that the approach holds promise.
Cite
Text
Brooks et al. "Robust Techniques for the Estimation of Structure from Motion in the Uncalibrated Case." European Conference on Computer Vision, 1998. doi:10.1007/BFB0055673Markdown
[Brooks et al. "Robust Techniques for the Estimation of Structure from Motion in the Uncalibrated Case." European Conference on Computer Vision, 1998.](https://mlanthology.org/eccv/1998/brooks1998eccv-robust/) doi:10.1007/BFB0055673BibTeX
@inproceedings{brooks1998eccv-robust,
title = {{Robust Techniques for the Estimation of Structure from Motion in the Uncalibrated Case}},
author = {Brooks, Michael J. and Chojnacki, Wojciech and van den Hengel, Anton and Baumela, Luis},
booktitle = {European Conference on Computer Vision},
year = {1998},
pages = {281-295},
doi = {10.1007/BFB0055673},
url = {https://mlanthology.org/eccv/1998/brooks1998eccv-robust/}
}