Robust techniques for the estimation of structure from motion in the uncalibrated case

  • Michael J. Brooks
  • Wojciech Chojnacki
  • Anton van den Hengel
  • Luis Baumela
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1406)


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.


Computer Vision Optical Flow Camera Frame Robust Technique Structure Recovery 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 1998

Authors and Affiliations

  • Michael J. Brooks
    • 1
  • Wojciech Chojnacki
    • 1
  • Anton van den Hengel
    • 1
  • Luis Baumela
    • 2
  1. 1.Department of Computer ScienceUniversity of AdelaideAdelaideAustralia
  2. 2.Departamento de Inteligencia ArtificialUniversidad Politécnica de MadridMadridSpain

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