The task is to compute 3-D motion and structure parameters of the scene using
the results from stereo matching and image matching. Systematic theoretical
and technical advances have been made, including: uniqueness of the solution
from line features as well as its stability; closed-form solutions from planar
scenes and their optimality; significant improvement in the stability of the
closed-form solution using point features; introduction of optimization
techniques so that the sensitivity to noise approaches a theoretical lower
bound (Cramér-Rao bound); new methods for estimating errors in the
closed-form and the optimized solutions; and a dynamic model for the modeling,
estimation and prediction of 3-D motion using long image sequences. The
algorithms developed have been tested with synthesized data and real-world
images.
N. Cui, J. Weng and P. Cohen, ``Extended structure and motion analysis
from monocular image sequences,'' Computer Vision, Graphics,
and Image Processing: Image Understanding, vol. 59, no. 2,
pp. 154-170, March 1994.
J. Weng, N. Ahuja, and T. S. Huang, ``Optimal motion and
structure estimation,''
IEEE Transactions on Pattern Analysis and Machine Intelligence,
vol. 15, no. 9, Sept. 1993, pp. 864-884.
J. Weng, T. S. Huang, and N. Ahuja,
``Motion and structure from line correspondences: closed-form
solution, uniqueness, and optimization,''
IEEE Transactions on Pattern Analysis and Machine Intelligence,
vol. 14, no. 3, pp. 318-336, March 1992.
J. Weng, N. Ahuja, and T. S. Huang, ``Motion and structure from point
correspondences: planar surfaces,''
IEEE Transactions on Signal
Processing, vol. 39, no. 12, pp. 2691-2717, Dec. 1991.
J. Weng, T. S. Huang, and N. Ahuja,
``Motion and structure from two perspective views:
algorithm, error analysis and error estimation,''
IEEE Transactions on Pattern Analysis and Machine Intelligence,
vol. 11, no. 5, pp. 451-476, May. 1989.
J. Weng, T. S. Huang, and N. Ahuja, ``3-D motion estimation, understanding
and prediction from noisy image sequences,''
IEEE Transactions on Pattern Analysis and Machine Intelligence,
vol. 9, no. 3, pp. 370-389, 1987.
J. Weng, T. S. Huang, and N. Ahuja, Motion and Structure from Image
Sequences, Springer-Verlag, 1993.
J. Weng and T. S. Huang, ``3-D Motion Analysis from Image
Sequences Using Point Correspondences,'' in C. H. Chen, L. F. Pau and
P. S. Wang (eds.), Handbook of Pattern Recognition and Computer
Vision, World Scientific Publishing, 1993.
To Weng's Home Page: http://web.cps.msu.edu/~weng/