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Abstract : |
This paper examines the robustness of correspondence-based approaches to structure from motion. Unlike earJier studies it is proven in an algorithmindependent way, that small absolute errors in image displacements cause absolute errors in rotational motion parameters significant eno ugh to lead to large relative errors in the determination of environmental depth. Even if the exact motion parameters are known a priori small errors in image displacements still lead to large errors in depth for environmental points whose distance from the camera is greater than a few multiples of the total trans-]ation in depth of the camera. In order to clarify the many issues on robustness that are raised in this paper, a new depth determination algorithm is developed and applied to dynamic image sequences of natural outdoor scen es., |
