Uniqueness and estimation of three-dimensional motion parameters of rigid objects with curved surfaces
Two main results are established in this paper. First, we show that seven point correspondences are sufficient to uniquely determine from two perspective views the three-dimensional motion parameters (within a scale factor for the translations) of a rigid object with curved surfaces. The seven point...
| Veröffentlicht in: | IEEE transactions on pattern analysis and machine intelligence. - 1979. - 6(1984), 1 vom: 01. Jan., Seite 13-27 |
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| Format: | Aufsatz |
| Sprache: | English |
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1984
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| Zugriff auf das übergeordnete Werk: | IEEE transactions on pattern analysis and machine intelligence |
| Schlagworte: | Journal Article |
| Zusammenfassung: | Two main results are established in this paper. First, we show that seven point correspondences are sufficient to uniquely determine from two perspective views the three-dimensional motion parameters (within a scale factor for the translations) of a rigid object with curved surfaces. The seven points should not be traversed by two planes with one plane containing the origin, nor by a cone containing the origin. Second, a set of ``essential parameters'' are introduced which uniquely determine the motion parameters up to a scale factor for the translations, and can be estimated by solving a set of linear equations which are derived from the correspondences of eight image points. The actual motion parameters can subsequently be determined by computing the singular value decomposition (SVD) of a 3×3 matrix containing the essential parameters |
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| Beschreibung: | Date Completed 02.10.2012 Date Revised 12.11.2019 published: Print Citation Status PubMed-not-MEDLINE |
| ISSN: | 1939-3539 |