3D structure and motion estimation from 2D image sequences

摘要

Two novel algorithms are presented 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.