Please use this identifier to cite or link to this item: http://hdl.handle.net/2440/116359
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Type: Conference paper
Title: Robust techniques for the estimation of structure from motion in the uncalibrated case
Author: Brooks, M.
Chojnacki, W.
van den Hengel, A.
Baumela, L.
Citation: Computer Vision - ECCV'98: proceedings vol.1, 1998 / Burkhardt, H., Neumann, B. (ed./s), vol.1406, pp.281-295
Publisher: Springer
Issue Date: 1998
Series/Report no.: Lecture Notes in Computer Science; 1406
ISBN: 3540645691
9783540645696
ISSN: 0302-9743
1611-3349
Conference Name: 5th European Conference on Computer Vision (ECCV'98) (02 Jun 1998 - 06 Jun 1998 : Freiburg, Germany)
Statement of
Responsibility: 
Michael J. Brooks, Wojciech Chojnacki, Anton van den Hengel, Luis Baumela
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.
Rights: © Springer-Verlag Berlin Heidelberg 1998
RMID: 0030043312
DOI: 10.1007/BFb0055673
Published version: https://doi.org/10.1007/BFb0055655
Appears in Collections:Australian Institute for Machine Learning publications
Computer Science publications

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