Number of Solutions for Motion and Structure from Multiple Frame Correspondence

摘要

Much of the dynamic computer vision literature deals with the determination of motion and structure by observing two frames captured at two instants of time. Motion prediction and understanding can be improved significantly, particularly in the presence of noise, by analyzing an image sequence containing more than two frames. In this paper, we assume knowledge of correspondence of points on the surface of an object which is moving with constant motion, i.e., constant translation and constant rotation around an unknown center. We give a new formulation of the problem and prove that the following results hold in general for the number of solutions to motion and structure values (i.e., values of translation, rotation, and depth):