A new robust algorithm for estimating 3-D motion parameters over three frames of stereo images

In many industrial applications, it is very important to determine 3-D motion and the location of rigid objects in an environment. To meet the demands of practical use, a robust algorithm is proposed. By using three frames of stereo images, the algorithm avoids solving some nonlinear equations and involves simple linear computation. Both rotation parameters and translation parameters are obtained by the algorithm and a posteriori criterion for rejecting outliers in a set of triples is applied in order to make the estimates more robust and precise. Experiments with noisy synthetic data have shown that the results are quite good