We analyze the problem of recovering rotation from two image frames, deriving an exact bound on the error size. With the single weak requirement that the average translational image displacements are smaller than the field of view, we demonstrate rigorously and validate experimentally that the error is small. These rexults form part of our correctness proof for a recently devleoped algorithm for recovering structure and motion from a multiple image sequence. In addition, we argue and demonstrate experimentallhy that in the complementary domain when the translation is large the whole motion can typically be recovered robustly, assuming the 3D points vary significantly in their depths.
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