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|Title:||Robust techniques for the estimation of structure from motion in the uncalibrated case|
van den Hengel, A.
|Citation:||Computer Vision - ECCV'98: proceedings vol.1, 1998 / Burkhardt, H., Neumann, B. (ed./s), vol.1406, pp.281-295|
|Series/Report no.:||Lecture Notes in Computer Science; 1406|
|Conference Name:||5th European Conference on Computer Vision (ECCV'98) (02 Jun 1998 - 06 Jun 1998 : Freiburg, Germany)|
|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  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|
|Appears in Collections:||Australian Institute for Machine Learning publications|
Computer Science publications
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