Camera motion estimation using monocular and stereo-vision

A preliminary step for many computer vision algorithms is the estimation of camera motion. In this paper we describe and compare the results of three algorithms for camera motion estimation, which require various degrees of knowledge about the camera(s) used and the scenario. The first algorithm uses a single uncalibrated camera and it is useful for applications such as content based image retrieval. This method provides only qualitative results. The second algorithm uses a single calibrated camera in order to obtain quantitative results. The third approach uses a calibrated stereo camera pair, together with a hardware stereo reconstruction system.