Title: A Linear Solution for Multiframe Structure from Motion

Author: John Oliensis

Affiliation: Computer Vision Research Laboratory, Dept. of
Computer Science, University of Massachusetts, Box 34610, Amherst, MA
0l003-4610

Abstract: We focus on the problem domain of a robot navigating in and
reconstructing an unknown environment from a sequence of images.  We
argue that the correct approach is to find the appropriate
approximation that linearizes the problem, yielding fast,
non--iterative algorithms that compute structure and motion with no
initial guess.  A class of algorithms (batch and recursive) is
developed that accomplishes this, where the appropriate algorithm
depends on the particular image sequence.  Experiments are described
on the PUMA sequence.

Keywords: structure from motion, multiframe