A new robust 3D motion estimation under perspective projection

We present a new 3D camera motion estimation technique using the optical flow from a pair of images taken under a perspective projection. The problem formulation leads to the solution of an overdetermined nonlinear system of equations with respect to the motion parameters. By employing an efficient initial guess algorithm which uses a weak perspective projection and an image coordinate normalization technique, the nonlinear solution can be obtained robustly and accurately. The proposed method has been tested on both several synthetic and real image sequences. The results show that the performance of the proposed algorithm is quite superior to the conventional ones even under more general and noisy situations