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Uniqueness and Estimation of Three-Dimensional Motion Parameters of Rigid Objects with Curved Surfaces
Open accessAbstract
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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Citations
Cited by
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Nister, D. (2004) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2004.17 · Cited by 2,009
Aloimonos, J., Weiss, I., & Bandyopadhyay, A. (1988) · International Journal of Computer Vision · doi:10.1007/bf00133571 · Cited by 931
Error modeling in stereo navigation
Matthies, L., & Shafer, S. (1987) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1987.1087097 · Cited by 509
An efficient solution to the five-point relative pose problem
Nister, D. (2003) · 2003 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2003. Proceedings. · doi:10.1109/cvpr.2003.1211470 · Cited by 279
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Babaee, M., & Negahdaripour, S. (2015) · Computer Vision and Image Understanding · doi:10.1016/j.cviu.2014.10.007 · Cited by 27
Metadata
- Authors
- Tsai, R. Y., & Huang, T. S.
- Venue
- IEEE Transactions on Pattern Analysis and Machine Intelligence
- Published
- 1984-01
- Volume
- PAMI-6
- Issue
- 1
- Pages
- 13-27
- ISSN
- 0162-8828 (ISSN-L)
- OpenAlex
- W2025934818
- Cited by
- 828
- References
- 0
- FWCI
- 42.40
- Type
- journal article
- Language
- en
- Open access
- green
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