Motion from point matches: Multiplicity of solutions
- Cite this article as:
- Faugeras, O.D. & Maybank, S. Int J Comput Vision (1990) 4: 225. doi:10.1007/BF00054997
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• The first one attempts to recover the motion parameters by studying the essential matrix and has been followed by a number of researchers in the field. A natural extension of this is to use algebraic geometry to characterize the set of possible essential matrixes. We present some new results based on this approach.
• The second question, based on projective geometry, dates from the previous century.
We show that the two approaches are compatible and yield the same result.
We then describe a computer implementation of the second approach that uses MAPLE, a language for symbolic computation. The program allows us to compute exactly the solutions for any configuration of 5 points. Some experiments are described.