In this paper, we investigate the second order statistics of essential matrix elements. Using the Taylor expansion for a rotation matrix up to second order terms and considering relatively high uncertainties for the rotation angles and translation parameters, a covariance matrix is obtained which includes the second order statistics of essential matrix elements. The covariance matrix is utilized along with the coplanarity equations and acts as a regularization term. Using the regularization term brings considerable improvements in the recovery of camera motion which will be proven based on simulation and different real image sequences.
CITATION STYLE
Hossein Mirabdollah, M., & Mertsching, B. (2014). On the second order statistics of essential matrix elements. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 8753, pp. 547–557). Springer Verlag. https://doi.org/10.1007/978-3-319-11752-2_45
Mendeley helps you to discover research relevant for your work.