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1994-08-22
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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