Estimating Consistent Motion from Three Views: An Alternative to Trifocal Analysis
The main goal of this paper is to introduce methods for three-view motion analysis that do not need threefold correspondences in the image planes as the well-known trifocal tensor methods do. With this characteristic, the proposed method is a practically very advantageous approach for (ego-)motion analysis and structure from motion. The proposed method starts with three two-view parameter estimates generated by Hartley/Mühlich-equilibrated TLS solutions, enforces geometrical consistency and iteratively optimizes the distances from the set of epipolar lines.
KeywordsMotion Parameter Translation Vector Point Correspondence Translational Error Epipolar Line
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