Critical Motions in Euclidean Structure from Motion

  title={Critical Motions in Euclidean Structure from Motion},
  author={Fredrik Kahl and Bill Triggs},
We investigate the motions that lead to ambiguous Euclidean scene reconstructions under several common calibration co nstraints, giving a complete description of such critical motions for: (i) internally calibrated orthographic and perspective cameras; (ii ) in two images, for cameras with unknown focal lengths, either different or equal. One aim of the work was to evaluate the potential of modern algebraic geometry tools for rig orously proving properties of vision algorithms, so we use ide… CONTINUE READING
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