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Unbiased estimation and statistical analysis of 3-D rigid motion from two views
1993
IEEE Transactions on Pattern Analysis and Machine Intelligence
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The problem of estimating 3-D rigid motion from point correspondences over two views is formulated as nonlinear least-squares optimization, and the statistical behaviors of the errors in the solution are analyzed by introducing a realistic model of noise described in terms of the covariance matrices of "N-vectors." It is shown that the least-squares solution based on the epipolar constraint is statistically biased. The geometry of this bias is described in both quantitative and qualitative
doi:10.1109/34.184773
fatcat:lpcebms4zzb6fdjgrk5rxkmeta