Estimating consistent motion from three views: An alternative to trifocal analysis

Abstract

The main goal of this paper is to introduce methods for three-view motion analysis that do not need threefold correspondences in the image planes as the well-known trifocal tensor methods do. With this characteristic, the proposed method is a practically very advantageous approach for (ego-)motion analysis and structure from motion. The proposed method starts with three two-view parameter estimates generated by Hartley/Mühlich-equilibrated TLS solutions, enforces geo- metrical consistency and iteratively optimizes the distances from the set of epipolar lines.