Optimal Structure-from-Motion Algorithm for Optical Flow

Naoya OHTA  Kenichi KANATANI  

IEICE TRANSACTIONS on Information and Systems   Vol.E78-D   No.12   pp.1559-1566
Publication Date: 1995/12/25
Online ISSN: 
Print ISSN: 0916-8532
Type of Manuscript: Special Section PAPER (Special Issue on Machine Vision Applications)
optical flow,  motion parameter,  depth map,  maximum likelihood estimation,  renormalization,  

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This paper presents a new method for solving the structure-from-motion problem for optical flow. The fact that the structure-from-motion problem can be simplified by using the linearization technique is well known. However, it has been pointed out that the linearization technique reduces the accuracy of the computation. In this paper, we overcome this disadvantage by correcting the linearized solution in a statistically optimal way. Computer simulation experiments show that our method yields an unbiased estimator of the motion parameters which almost attains the theoretical bound on accuracy. Our method also enables us to evaluate the reliability of the reconstructed structure in the form of the covariance matrix. Real-image experiments are conducted to demonstrate the effectiveness of our method.