Uniqueness and Estimation of Three-Dimensional Motion Parameters of Rigid Objects with Curved Surfaces

摘要

The authors show that seven pilot correspondences are sufficient to uniquely determine from two perspective views the three-dimensional motion parameters (within a scale factor for the translations) of a rigid object with curved surfaces. The seven points should not be traversed by two planes with one plane containing the origin, nor by a cone containing the origin. A set of essential parameters are introduced which uniquely determine the motion parameters up to a scale factor for the translations, and can be estimated by solving a set of linear equations which are derived from the correspondences of eight image points. The actual motion parameters can subsequently be determined by computing the singular value decomposition of a 3x3 matrix containing the essential parameters. No nonlinear equations need be solved. (Author)