The computation of structure from fixed-axis motion: Rigid structures (Q1072496)

From MaRDI portal
scientific article
Language Label Description Also known as
English
The computation of structure from fixed-axis motion: Rigid structures
scientific article

    Statements

    The computation of structure from fixed-axis motion: Rigid structures (English)
    0 references
    1986
    0 references
    We show that three distinct orthographic views of three points in a rigid configuration are compatible with at most 64 interpretations of the three-dimensional structure and motion of the points. If, in addition, one assumes that the three points spin about a fixed axis over the three views, then with probability one there is a unique three-dimensional interpretation (plus a reflection). Moreover the probability of false targets is zero. In the special case that the axis of rotation is parallel to the image plane three views of the three points are sufficient to obtain at most two interpretations (plus reflections) - unless one assumes the angular velocity about the axis is constant, in which case three views of two points are sufficient to determine a unique interpretation. Closed form solutions are obtained for each of these cases. The systems of equations studied here are in each case overconstraining (i.e. there are more independent equations than unknowns) and are amenable to solution by nonlinear programming. These two properties make possible the construction of noise insensitive algorithms for computer vision systems. Our uniqueness proofs employ the principle of upper semicontinuity, a principle which underlies a general mathematical framework for the analysis of solutions to overconstraining systems of equations.
    0 references
    fixed-axis motion
    0 references
    rigid structures
    0 references
    three distinct orthographic views of three points
    0 references
    three-dimensional structure
    0 references
    Closed form solutions
    0 references
    nonlinear programming
    0 references
    noise insensitive algorithms
    0 references
    computer vision systems
    0 references
    upper semicontinuity
    0 references
    0 references
    0 references

    Identifiers

    0 references
    0 references
    0 references
    0 references
    0 references
    0 references