A Six Point Solution for Structure and Motion

The paper has two main contributions: The rst is a set of methods for computing structure and motion for m 3 views of 6 points. It is shown that a geometric image error can be minimized over all views by a simple three parameter numerical optimization. Then, that an algebraic image error can be minimized over all views by computing the solution to a cubic in one variable. Finally, a minor point, is that this \quasi-linear" linear solution enables a more concise algorithm, than any given previously, for the reconstruction of 6 points in 3 views. The second contribution is an m view n 6 point robust reconstruction algorithm which uses the 6 point method as a search engine. This extends the successful RANSAC based algorithms for 2-views and 3-views to m views. The algorithm can cope with missing data and mismatched data and may be used as an e cient initializer for bundle adjustment. The new algorithms are evaluated on synthetic and real image sequences, and compared to optimal estim...

• Type: Conference
• Year: 2000
• Where: ECCV
• Authors: Frederik Schaffalitzky, Andrew Zisserman, Richard I. Hartley, Philip H. S. Torr
• Keywords: Algebraic Image Error, Bundle Adjustment, Computer Vision, ECCV 2000, Geometric Image Error, Parameter Numerical Optimization, Robust Reconstruction Algorithm