We propose a factorization method for structure from planar motion using a stationary perspective camera. Compared with [A factorization based algorithm for multi-image projective structure and motion] for general motion, our work has three major differences: a different measurement matrix specialized for planar motion is formed. The measurement matrix has a rank of at most 3, instead of 4; the measurement matrix needs similar scalings, but estimation of fundamental matrices or epipoles is not needed; we have an Euclidean reconstruction instead of a projective reconstruction. The camera is not required to be calibrated. A simple semi-automatic calibration method using vanishing points and lines is sufficient. Experimental results show that the algorithm is accurate and fairly robust to noise and inaccurate calibration.
A Factorization Method for Structure from Planar Motion
01.01.2005
452872 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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