Motion and Structure Estimation From Monocular Images

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.

References

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.
 Back To Weng's Home Page: http://web.cps.msu.edu/~weng/