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Proceedings Paper

Structure And Motion From Line Correspondences
Author(s): Hormoz Shariat
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Paper Abstract

It is stated in the recent published literature that the recovery of structure and motion of moving objects using line correspondences in two frames is ambiguous, if not impossible. In this paper, a method is presented which uses correspondences of five lines in two views of a moving object to calculate its structure, axis of rotation, amount of rotation, and translation vector. The only assumption made is that the object is rigid; and the only information used is the directions of the matched line segments. First, the structure of the moving object (i.e., the relative position of the line segments in space) is determined by solving a set of polynomial equations. These equations are based on the following property of a rigid object: the angle and distance between any two lines on the object do not change from frame to frame. Once the relative positions of the lines in space are recovered, the axis of rotation, the amount of rotation, and the translation vector are easily recovered (in that order) by solving a set of linear equations for each parameter.

Paper Details

Date Published: 1 January 1987
PDF: 6 pages
Proc. SPIE 0852, Mobile Robots II, (1 January 1987); doi: 10.1117/12.968251
Show Author Affiliations
Hormoz Shariat, Lockheed A.I. Center (United States)

Published in SPIE Proceedings Vol. 0852:
Mobile Robots II
Wendell H. Chun; William J. Wolfe, Editor(s)

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