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Shape and Motion from Image Streams: a Factorization Method 2. Point Features in 3D Motion (1991) [147 citations — 13 self]

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@TECHREPORT{Tomasi91shapeand,
    author = {Carlo Tomasi and Takeo Kanade},
    title = {Shape and Motion from Image Streams: a Factorization Method 2. Point Features in 3D Motion},
    institution = {International Journal of Computer Vision},
    year = {1991}
}

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Abstract:

In principle, three orthographic images of four points are sufficient to recover the positions of the points relative to each other (shape), and the viewpoints from which the images were taken (motion). In practice, however, the solution to this structure-from-motion problem is reliable only when the viewing direction changes considerably between images. This conflicts with the difficulty of establishing correspondence between images over long-range camera motions. Image streams, long sequences of images covering a wide motion in small steps, allow solving this conflict by using tracking for correspondence and redundancy for increased reliability in the structure-from-motion computation. This report is the second of a series on a new factorization method for the computation of shape and camera motion from a stream of images. While the first report considered a camera moving on a plane, we now extend theory, analysis and experiments to general, three-dimensional motion. In our method,...

Citations

1054	An iterative image registration technique with an application to stereo vision – Lucas, Kanade - 1981
252	Uniqueness and estimation of three-dimensional motion parameters of rigid objects with curved surface – Tsai, Huang - 1984
205	Determining three-dimensional motion and structure from optical flow generated by several moving objects – ADIV - 1985
116	Direct methods for recovering motion – Horn, Weldon - 1988
72	Singular value decomposition and least squares solutions – Golub, Reinsch - 1970
21	Shape and motion without depth – Tomasi, Kanade - 1990
18	Visual perception of three-dimensional motion – Heeger, Jepson - 1989
18	A rational algebraic formulation of the problem of relative orientation – Thompson - 1959
6	Egomotion and Relative Depth from Optical Flow – Prazdny - 1980
3	Egomotion and relative depth from optical ow – Prazdny - 1980
1	Tsai et al – Tsai, Huang, et al. - 1984