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<p>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 rigid-body 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.</p>
position parameter estimation; distance constancy; computerised picture processing; displacement; rigid-body motion; computerised picture processing; parameter estimation

A. Mitiche, S. Seida and J. Aggarwal, "Using Constancy of Distance to Estimate Position and Displacement in Space," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 10, no. , pp. 594-599, 1988.
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