Feed-forward recovery of motion and structure from a sequence of 2D-lines matches

A description is given of the development and implementation of a line segments based module of recovery of self-motion and 3-D structure. Given a monocular sequence of time-varying images and 2-D-lines matches in this sequence, the goal is to recover the camera motion and the 3-D-lines structure. A feedforward approach which combines prediction and correction is presented, and the equations are given and discussed in the case of small rigid motions. Algorithms, based on the minimization of the Mahalanobis distance between two estimates, are given and their implementations carefully discussed. The efficiency of the proposed approach is illustrated through experimental tests carried out considering noisy synthetic data and a real indoor scene.<<ETX>>

[1]  Olivier Faugeras,et al.  From optical flow of lines to 3D motion and structure , 1989, Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications.

[2]  Thierry Viéville,et al.  Estimation of 3D-motion and structure from tracking 2D-lines in a sequence of images , 1990, ECCV.

[3]  Olivier Faugeras,et al.  Building a 3D world model with a mobile robot: 3D line segment representation and integration , 1990, [1990] Proceedings. 10th International Conference on Pattern Recognition.

[4]  Thomas S. Huang,et al.  Estimation of rigid body motion using straight line correspondences , 1986, Comput. Vis. Graph. Image Process..

[5]  Rachid Deriche,et al.  3D Motion Estimation using a Token Tracker , 1988, MVA.

[6]  Rachid Deriche,et al.  Tracking line segments , 1990, Image Vis. Comput..