Shape and Motion from Linear Features
Gardner, Warren F.
Lawton, Daryl T.
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This paper introduces a technique for extracting structure and motion using directionally selective matches between linear features. A world-centered coordinate system is used to make these computations without the intermediate calculation of depth. In order to constrain the possible structure and motion configurations, we assume that the three-dimensional direction of gravity relative to each image frame is known. The direction of gravity, along with the directionally selective linear feature matches, form a set of quadratic equations which can be used to determine structure and motion.