A METHOD TO CALCULATE THE STRUCTURE AND MOTION PARAMETERS FROM LINE CORRESPONDENCES

In this paper a new scheme is introduced for the estimation of structure and motion parameters in an image sequence. The proposed method consists of two steps. In the first step, using the correspondences of two straight lines over four frames, a set of nonlinear equations in terms of the structure and motion parameters is established. In order to solve the simultaneous equations numerically, a good initial guess is required, thus the second step uses a new technique to obtain initial guess values of the parameters from the existing solutions for planar surfaces. © 1990.