Issue No. 09 - September (1998 vol. 20)
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/34.713360
<p><b>Abstract</b>—The literature on recursive estimation of structure and motion from monocular image sequences comprises a large number of apparently unrelated models and estimation techniques. We propose a framework that allows us to derive and compare all models by following the idea of dynamical system reduction. The "natural" dynamic model, derived from the rigidity constraint and the projection model, is first reduced by explicitly decoupling structure (depth) from motion. Then, implicit decoupling techniques are explored, which consist of imposing that some function of the unknown parameters is held constant. By appropriately choosing such a function, not only can we account for models seen so far in the literature, but we can also derive novel ones.</p>
Visual motion estimation, epipolar geometry, motion decoupling, compensation, fixation, parallax, output stabilization, model reduction.
Pietro Perona, Stefano Soatto, "Reducing "Structure From Motion": A General Framework for Dynamic Vision Part 1: Modeling", IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 20, no. , pp. 933-942, September 1998, doi:10.1109/34.713360