A linear algorithm for motion frm three weak perspective images using euler angles

摘要

In this paper we describe a new s imple linar algoithm for motion ans structur from three weak perspective projections using Euler anales. We first determine the epipolar equation between each pair of images, which determines the frist and third Euler anales for the rotation between that pair of images, leaving only the second Euler angle undetermined. In the next step, combining the three rotations results in a very simple linear alogithm to determine the second Euler angles, up to a Necker reversal. expeirmental results on synthetic and real images are presented. And the degrenerate case are discussed. The program can be ftped from http:/www.cv.cs.ritsumei,ac.jp/noriko/motion.html