Robust Techniques for the Estimation of Structure from Motion in the Uncalibrated Case

Abstract. Robust techniques are developed for determining structure from motion in the uncalibrated case. The structure recovery is based on previous work [7] in which it was shown that a camera undergoing unknown motion and having an unknown, and possibly varying, focal length can be self-calibrated via closedform expressions in the entries of two matrices derivable from an instantaneous optical flow field. Critical to the recovery process is the obtaining of accurate numerical estimates, up to a scalar factor, of these matrices in the presence of noisy optical flow data. We present techniques for the determination of these matrices via least-squares methods, and also a way of enforcing a dependency constraint that is imposed on these matrices. A method for eliminating outlying flow vectors is also given. Results of experiments with real-image sequencesare presentedthat suggest that the approach holds promise.

• Type: Conference
• Year: 1998
• Where: ECCV
• Authors: Michael J. Brooks, Wojciech Chojnacki, Anton van den Hengel, Luis Baumela
• Keywords: Accurate Numerical Estimates, Approach Holds Promise, Computer Vision, ECCV 1998, Instantaneous Optical Flow, Noisy Optical Flow, Outlying Flow Vectors