A linear algorithm for motion estimation using straight line correspondences

A linear algorithm is presented for determining 3-D motion parameters of a rigid object based on straightline correspondences. The algorithm requires a minimum number of thirteen-line correspondences over three frames. It comprises three steps: three intermediate matrices are computed; several candidate solutions of the rotation matrices and translation vectors are obtained from the intermediate matrices; and motion parameters are uniquely determined by the physical constraints of the 3-D rotations and translations. Some simulation results are given