Motion Without Structure

We propose a new paradigm, motion without structure, for determining the ego-motion between two frames. It is best suited for cases where reliable feature point correspondence is difficult, or for cases where the expected camera motion is large. The problem is posed as a five-dimensional search over the space of possible motions during which the […] Lire la suite


Direct Estimation of Rotation from Two Frames via Epipolar Search

A direct method for estimating the rotational motion between two image frames is developed. The algorithm does not require knowledge of image correspondences, optical flow or scene structure and only assumes approximate knowledge of the translational motion. Spatial and temporal intensity gradients are avoided, resulting in an algorithm that is noise resistant. Moreover, the algorithm […] Lire la suite