Abstract
One of the central problems in dynamic computer vision is the determination of motion from correspondence of points on the visible surface of a moving object obtained at two different times. In the problem we consider, the initial position of several feature points on some object is assumed to be known. Then at some later time instant the corresponding perspective projection of those points is given. The moving body may be nonrigid or the measurements may be corrupted with noise. In either case, we determine the multiplicity of possible solution for the best-fitting rigid motion. We show that whenever at least three point correspondences are given, there are at most two possible solutions for the best-fitting rigid motion if the object space is two-dimensional, while there are at most forty possible solutions if the object space is three-dimensional. In the latter case the number of possible solutions drops to four if three point correspondence are known, the body is rigid, and the measurements are noise-free. Several examples are worked out to illustrate our results.©1994 John Wiley & Sons Inc
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