Using motion from orthographic projections to prune 3-D point matches

The authors presented a new method using motion constraint to prune 3-D point matches. The method discards noisy z coordinates of points and uses only x and y coordinates to compute motion. This method is specifically designed to resolve the matching ambiguity due to the use of large error tolerances in rigidity tests to account for depth errors. A least-squares solution of the motion problem is derived. Results show that this method is able to detect false matches more effectively than the traditional method which uses full 3-D coordinates