# Sequential updating of projective and affine structure from motion dating a man with no job

Hence, we can guarantee a solution for n 4, provided the world objects do not lie in a critical configuration =-=[21]-=-, [26].

The only similar noniterative methods for an arbitrary number of points are those of Quan and Lan [24] and Fiore [7].

The algorithm is used in a robust hypothesize-and-test framework to estimate structure and motion in real-time with low delay.

The real-time system uses solely visual input and has been demonstrated at major conferences. Two images of a single scene/object are related by the epipolar geometry, which can be described by a 3×3 singular matrix called the essential matrix if images' internal parameters are known, or the fundamental matrix otherwise.

Our main contribution is a complete, detailed classification of these critical motion sequences (CMS).

A specific application of the work is demonstrated -- affine structure is used to compute free space maps enabling navigation through unstructured environments and avoidance of obstacles.Citation Context ...jective invariants can even be used to calibrate the cameras in the classical sense without using any calibration apparatus (known as self-calibration) (Maybank and Faugeras 1992, Faugeras, Luong and =-=Maybank 1992-=-, Luong 1992, Zhang, Luong and Faugeras 1996, Enciso 1995).Recently, we have shown (Zhang 1996a) that even in the case where images are calibrated, more reliable results can be obtained if we use the... A structure from motion algorithm is described which recovers structure and camera position, modulo a projective ambiguity.It captures all geometric information contained in two i ..." Two images of a single scene/object are related by the epipolar geometry, which can be described by a 3×3 singular matrix called the essential matrix if images' internal parameters are known, or the fundamental matrix otherwise.It captures all geometric information contained in two images, and its determination is very important in many applications such as scene modeling and vehicle navigation.