A LINEAR ALGORITHM FOR POINT AND LINE-BASED STRUCTURE FROM MOTION

Two important structure from motion problems in recent years have been the point-based and the line-based problems (using image motion of points or lines to find 3D motion and structure). A considerable advance came from the development of separate linear algorithms for lines and points. However, the solutions to these two problems could not be combined into a linear algorithm that uses points and lines together. This paper presents, for the first time, such an algorithm. This algorithm needs three frames and a combination of point and line correspondences that gives enough constraints to solve the problem. Using redundant points and lines the algorithm exhibits stability in the presence of noise. It has been tested with simulated data under a wide variety of conditions. © 1992.