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Camera Motion

Bibliography

A collection of references about camera motion estimation and kalman filtering, arranged in alphabetic order. The accumulated literature on camera motion estimation would choke a large horse. There were papers I wished I had found earlier, and treatments of optimal estimation that I wish I hadn't (and don't list here !) And never forget to look in Numerical Recipes!

The author links often turn up more recent work along the same lines...

If you have a favorite reference that you want to share with me, drop me a note. Likewise if one of these links goes stale !

wad@media.mit.edu


This paper provided me with the measurement model I used. They also use an iterated extended kalman filter (IEKF) to solve the camera motion model:

A. Azarbayejani and A. Pentland, "Recursive Estimation of Motion, Structure, and Focal Length" IEEE Trans. Pattern Analysis and Machine Intelligence, 1995?.
Also MIT Media Lab Vision & Modeling Group TR#243.


Bozic is often cited, but in my opinion, a mediocre treatment.

S. M. Bozic, Digital and Kalman Filtering, Edward Arnold Pub., London, 1994 (also 1979).
TK7872.F5.B7 in Barker Eng. Lib.


A necessary citation, but I preffered Jazwinski.

Robert G. Brown and Patrick Y.H. Hwang, Introduction to Random Signal Analysis and Kalman Filtering, John Wiley & Sons, New York, Second Ed. 1992
TK5102.5.B696 in Barker Eng. Lib.


This paper is THE one on using the IEKF to solve the camera motion problem. I didn't use either their system or measurement model, however.

T.J. Broida, S. Chandrashekhar, R. Chellappa, "Recursive 3-D Motion Estimation from a Monocular Image Sequence", IEEE Transactions on Aerospace and Electronic Systems, Vol. 26, No. 4, July 1990, pp. 639-656.


Actually, I included this one more for the author links than the paper

Olivier Faugeras and Bernard Mourrain, "On the geometry and algebra of the point and line correspondences between N images", Proceedings of ICCV95, pages 951-956.


Again, this is one of those "must-cites" that I didn't find real useful.

Arthur Gelb, ed., Applied Optimal Estimation, MIT Press, Cambridge, MA 1974.


Grewal and Andrews is truly one of the better books out there for someone trying to implement a Kalman filter. You will want another book for the theoretical underpinnings, and they strangely don't mention Iterated Extended Kalman Filters at all. But they do have chapters on different implementation methods for overcoming numerical instabilities and how to go about taming a diverging filter.

Mohinder S. Grewal, Angus P. Andrews, Kalman Filtering: Theory and Practice, Prentice-Hall, Englewood Cliffs, New Jersey, 1993.
QA402.3.G695 1993 in Barker Eng. Lib.


Berthold K.P. Horn, Robot Vision, MIT Press, Cambridge, MA, 1986.

Berthold K.P. Horn, "Closed-form solution of absolute orientation using unit quaternions", Journal of the Optical Society of America, Vol 4, No. 4, April 1987.

Berthold K.P. Horn,and E.J. Weldon, Jr., "Direct Methods for Recovering Motion", International Journal of Computer Vision, Vol. 2, No. 1, pp. 51-76, June 1988.

Berthold K.P. Horn, "Relative Orientation", International Journal of Computer Vision, Vol. 4, No. 1, pp. 59-78, 1990.


A good introduction to the mathematics behind the Kalman filter.

Andrew H. Jazwinski, Stochastic Processes and Filtering Theory, Academic Press, New York, 1970.
QA276.8.J42 in Barker Eng. Lib.


A Levenberg-Marquardt approach, with a continuous extension to the basic batch algorithm. They don't try to determine Z or f directly.

Ratnam V.R. Kumar, Arun Tirumalai, and Ramesh C. Jain, "A Non-linear Optimization Algorithm for the Estimation of Structure and Motion Parameters", Proc. IEEE Conf. on Computer Vision and Pattern Recognition, June 1989, pp. 136-143.
TA1632.I36 1989 in Barker Eng. Lib.


This paper presents an kalman filtering of parameters determined from a two frame batch method. Oliensis has newer treatments online...

J. Oliensis and J. Inigo Thomas, "Incorporating Motion Error in Multi-Frame Structure from Motion", Proc. 1991 IEEE Workshop on Visual Motion, Oct. 1991, Princeton, N.J., pp. 8-13.
TJ211.4.W67 1991 in Barker Eng. Lib.


Truly an invaluable reference. Although it doesn't cover kalman filtering, it did provide the matrix inversion and Levenberg-Marquardt routines.

William H. Press, Saul A. Teukolsky, William T. Vetterling, Brian P. Flannery, Numerical Recipes in C: The Art of Scientific Computing , 2nd edition, Cambridge Univ. Press, N.Y., 1992.
http://world.std.com/~nr


This paper discusses an approach where an Extended Kalman Filter is applied to the output of a two frame batch estimator.

S. Soatto, P. Perona, R. Frezza, and G. Picci, "Recursive Motion and Structure Estimation with Complete Error Characterization", Proc. 1993. IEEE Conf. on Comp. Vision and Pattern Recog., pp. 428-433.
TA1632.I36 1993 in Barker Eng. Lib.


Richard Szeliski and Sing Bing Kang, Recovering 3D shape and motion from image streams using non-linear least squares, CRL Technical Report 93/3, Digital Equipment Corp., Cambridge Research Labs, March 1993.
http://www.research.digital.com/CRL/abstracts/93.3.html
also in 1993 IEEE Conf. on Comp. Vision and Pattern Recog.


This paper compares a batch method, using a Levenberg-Marquardt algorithm, with an IEKF approach. The Lev.-Mar. method won ! It also contains a good discussion of the noise issues which plague linear (epipolar) approaches.

Juyang Weng, Narendra Ahuja, Thomas S. Huang, Optimal motion and structure estimation, in Proc. IEEE Trans. Pattern Analysis and Machine Intelligence, 15(9), pp. 864-884, September 1993.
An earlier/simpler version also appeared in Proc. IEEE Conf. on Computer Vision and Pattern Recognition, pp. 144-152, June 1989.


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If you have a favorite reference that you want to share with me, drop me a note. Likewise if one of these links goes stale !


wad@media.mit.edu