Linearized Motion Estimation for Articulated Planes

—In this paper, we describe the explicit application of articulation constraints for estimating the motion of a system of articulated planes. We relate articulations to the relative homography between planes and show that these articulations translate into linearized equality constraints on a linear least squares system, which can be solved efficiently using a Karush-Kuhn-Tucker system. The articulation constraints can be applied for both gradient-based and feature-based motion estimation algorithms and to illustrate we describe a gradient-based motion estimation algorithm for an affine camera and a feature-based motion estimation algorithm for a projective camera that explicitly enforce articulation constraints. We show that explicit application of articulation constraints leads to numerically stable estimates of motion. The simultaneous computation of motion estimates for all the articulated planes in a scene allows us to handle scene areas where there is limited texture informat...

• Type: Journal
• Year: 2011
• Where: PAMI
• Authors: Ankur Datta, Yaser Sheikh, Takeo Kanade
• Keywords: Articulation Constraints, Feature-based Motion Estimation, Motion Estimation, Operations Research, PAMI 2011