Distribution of degrees of freedom over structure and motion of rigid bodies
This work addresses a fundamental problem in computer vision for 3D reconstruction from 2D images, though it appears incremental in establishing minimal requirements.
The paper tackles the problem of recovering motion and structure parameters from multiframes under orthogonal projection using traced points, demonstrating that 3 frames and 3 points are the absolute minimum and presenting a closed-form solution.
This paper is concerned with recovery of motion and structure parameters from multiframes under orthogonal projection when only points are traced. The main question is how many points and/or how many frames are necessary for the task. It is demonstrated that 3 frames and 3 points are the absolute minimum. Closed-form solution is presented. Furthermore, it is shown that the task may be linearized if either four points or four frames are available. It is demonstrated that no increase in the number of points may lead to recovery of structure and motion parameters from two frames only. It is shown that instead the increase in the number of points may support the task of tracing the points from frame to frame.