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

DOI10.1007/BF00320477MaRDI QIDQ1072496zbMATH OpenOpenAlexFDO

Authors Donald D. Hoffman, Bruce M. Bennett

Publication date 1986

Published in Biological Cybernetics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/bf00320477

zbMATH Keywords

Closed form solutionscomputer vision systemsfixed-axis motionnoise insensitive algorithmsnonlinear programmingrigid structuresthree distinct orthographic views of three pointsthree-dimensional structureupper semicontinuity

Mathematics Subject Classification ID

Kinematics of a rigid body (70B10) Psychophysics and psychophysiology; perception (91E30) Other natural sciences (mathematical treatment) (92F05)

Review text

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.

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Cites work

• scientific article; zbMATH DE number 3572315 (Why is no real title available?)
• scientific article; zbMATH DE number 3279238 (Why is no real title available?)
• The computation of structure from fixed-axis motion: nonrigid structures
• The interpretation of biological motion

Cited in

(10)

• On the kinetic depth effect
• Inferring 3D structure from image motion: The constraint of Poinsot motion
• The depth effect of an oscillating tilted bar
• Inferring 3D structure from three points in rigid motion
• Time-varying images: The effect of finite resolution on uniqueness
• Solving three-dimensional small-rotation motion equations: Uniqueness, algorithms, and numerical results
• scientific article; zbMATH DE number 2045487 (Why is no real title available?)
• scientific article; zbMATH DE number 2045488 (Why is no real title available?)
• A mathematical model of depth displacement with a contracting bar
• The computation of structure from fixed-axis motion: nonrigid structures

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