Getting around the aperture problem using point and line correspondences

Abstract

It is known that due to the aperture problem motion cannot be recovered from two frames without additional assumptions. A method is proposed, that uses three frames and point or line correspondences to estimate 3-D motion. The algorithm is linearized, efficient and needs no assumptions other than rigidity. Using redundant points and lines the algorithm exhibits stability in the presence of noise. It has been tested with simulated data under a wide variety of conditions.<>