## A New Multistage Approach to Motion and Structure Estimation: From Essential Parameters to Euclidean Motion Via Fundamental Matrix (1996)

Citations: | 20 - 1 self |

### BibTeX

@TECHREPORT{Zhang96anew,

author = {Zhengyou Zhang},

title = {A New Multistage Approach to Motion and Structure Estimation: From Essential Parameters to Euclidean Motion Via Fundamental Matrix},

institution = {},

year = {1996}

}

### OpenURL

### Abstract

The classical approach to motion and structure estimation problem from two perspective projections consists of two stages: (i) using the 8-point algorithm to estimate the 9 essential parameters defined up to a scale factor, which is a linear estimation problem; (ii) refining the motion estimation based on some statistically optimal criteria, which is a nonlinear estimation problem on a five-dimensional space. Unfortunately, the results obtained using this approach are often not satisfactory, especially when the motion is small or when the observed points are close to a degenerate surface (e.g. plane). The problem is that the second stage is very sensitive to the initial guess, and that it is very difficult to obtain a precise initial estimate from the first stage. This is because we perform a projection of a set of quantities which are estimated in a space of 8 dimensions, much higher than that of the real space which is five-dimensional. We propose in this paper a novel approach by introducing...