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A. Mitiche, S. Seida, J.K. Aggarwal, "Using Constancy of Distance to Estimate Position and Displacement in Space," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 10, no. 4, pp. 594599, July, 1988.  
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@article{ 10.1109/34.3921, author = {A. Mitiche and S. Seida and J.K. Aggarwal}, title = {Using Constancy of Distance to Estimate Position and Displacement in Space}, journal ={IEEE Transactions on Pattern Analysis and Machine Intelligence}, volume = {10}, number = {4}, issn = {01628828}, year = {1988}, pages = {594599}, doi = {http://doi.ieeecomputersociety.org/10.1109/34.3921}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }  
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TY  JOUR JO  IEEE Transactions on Pattern Analysis and Machine Intelligence TI  Using Constancy of Distance to Estimate Position and Displacement in Space IS  4 SN  01628828 SP594 EP599 EPD  594599 A1  A. Mitiche, A1  S. Seida, A1  J.K. Aggarwal, PY  1988 KW  position parameter estimation; distance constancy; computerised picture processing; displacement; rigidbody motion; computerised picture processing; parameter estimation VL  10 JA  IEEE Transactions on Pattern Analysis and Machine Intelligence ER   
The problem of computing structure and motion from the observation of points in two distinct images of a scene is considered. The proposed method explicitly utilizes the principle of conservation of distance during rigidbody motion. The formulation is such that it separates the problem of estimating object position from that of determining motion parameters. The equations of invariance of distance for a rigid body are solved for the points' position in space. When these coordinates in space are known, motion parameters are computed in a simple and straightforward manner. Examples are given to illustrate the efficiency of the algorithm.
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