Estimating 3-D motion and structure parameters of a rigid planar object by establishing landmark correspondence

Results of combining the shape recognition method of N. Ansari and E.J. Delp (1989) and two motion estimation algorithms presented by R.Y. Tsai and T.S. Huary (1981, 1982) to perform motion and structure estimation of a rigid planar object from landmark matching are presented. From all numerical experiments that have been tried, the recognition algorithm can handle the landmark matching tasks well if the object follows a relatively small rigid motion such that the normal of the object surface is not almost perpendicular to the optical axis. Due to the nonlinearity of the computation procedure of the combined algorithm and roundoff error generated by the computer, the estimated parameters deviate up to 10% from the predefined parameters. The combined algorithm is, however, convenient, inexpensive and not shaken by missing or extraneous landmarks in the second view as long as there are more than three landmark corresponding pairs