Using 3-D (Three Dimensional) Points and Lines without Correspondences for Matching and Motion Estimation

摘要

This paper describes new algorithms for matching and motion estimation of 3-D point or line sets. The first part briefly describes a recently developed method for motion estimation from points without correspondences. The similar method is developed for motion estimation from line features without line correspondences. This paper will show how to do set matching without recovering point or line correspondences. An invariant coordinate system fixed on the set of points or lines, is employed and several features defined in this coordinate system are used for matching. Simulation results demonstrate the efficiency of the suggested algorithms and their performance with noisy data. Reprints. (JHD)