New Geometric Methods in Computing the Motion Parameters of A Rigid Body Using Line Correspondences

Abstract

This paper describes a method to determine rigid body motion using straight line correspondences. It is assumed that the body has features in the form of parallel line segments. Our method relies on the observation of two pairs of parallel lines over three frames. By introduction of plücker coordinates of a line in R3, the motion of the line is easly modeled, and the line-based computation of motion parameters can be carried out with algorithms which only involve linear or quadratic equations.