Abstract
Two novel algorithms are presented in this paper for depth estimation using point correspondences and the ground plane constraint. One is a direct non iterative method, and the other a simple well-behaved iterative technique where the choice of initial value is straightforward. The algorithms are capable of handling any number of points and frames as well as points which become occluded. Once the point depths are determined, motion parameters can be obtained by a linear least squares technique. Extensive test results are included which show that the proposed algorithms are robust to noise, and perform satisfactorily using real outdoor image sequences.
This work was carried out as part of the ESPRIT project P2152 (VIEWS).
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Tan, T.N., Baker, K.D., Sullivan, G.D. (1992). 3D Structure and Motion Estimation from 2D Image Sequences. In: Hogg, D., Boyle, R. (eds) BMVC92. Springer, London. https://doi.org/10.1007/978-1-4471-3201-1_8
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DOI: https://doi.org/10.1007/978-1-4471-3201-1_8
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