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A statistical approach to structure and motion from image features

  • Kalle Åström
  • Fredrik Kahl
  • Anders Heyden
  • Rikard Berthilsson
Poster Papers
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1451)

Abstract

The estimation of structure and motion from image sequences using corresponding points, lines, conics and structured patches is treated. Recent research has provided good tools for obtaining good initial estimates of structure and motion using point, line, conic and curve correspondences. These estimates are, however, not so accurate. In this paper it is shown how to obtain statistically optimal estimates of structure and motion using a combination of such image feature correspondences. The question of using proper weighting is important when different types of features are combined. We show how weights can be chosen in a statistical optimal sense. Experiments with real data are used to evaluate every step of the algorithm.

Keywords

Bundle adjustment Points Lines Conics Patches 

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Copyright information

© Springer-Verlag Berlin Heidelberg 1998

Authors and Affiliations

  • Kalle Åström
    • 1
  • Fredrik Kahl
    • 1
  • Anders Heyden
    • 1
  • Rikard Berthilsson
    • 1
  1. 1.Dept of MathematicsLund UniversityLundSweden

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