Reduction of inherent ambiguities in structure from motion problem using inertial data

The reduction of inherent ambiguities in structure from motion (SfM) using inertial data is addressed. First, we show that the translation-rotation ambiguity in SfM from a noisy flow field computed from two frames can be completely eliminated by using noise free inertial rate data. Secondly, we show that the admissible solution space for SfM from noisy feature correspondences can be reduced by using inertial data