Structure from motion-a critical analysis of methods

Existing methods for structure from motion are classified and analyzed and mathematical relationships among them are shown. Their behavior on the same synthetic data is evaluated, examining the effect of noise, initial estimates, and the amount of motion. The missing necessary polynomial constraint on the singular values of R.Y. Tsai and T.S. Huang´s (1981) essential parameter matrix is shown, and related linear methods for less general SFM problems and their necessary polynomial constraints are derived. The experiments show that for data which the constraints are satisfied, linear methods work correctly and quickly, and where they are not applicable, polynomial methods may work but are slower