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.
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Brooks, M.J., Chojnacki, W., van den Hengel, A., Baumela, L. (1998). Robust techniques for the estimation of structure from motion in the uncalibrated case. In: Burkhardt, H., Neumann, B. (eds) Computer Vision — ECCV'98. ECCV 1998. Lecture Notes in Computer Science, vol 1406. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0055673
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