Motion and structure of four points from one motion of a stereo rig with unknown extrinsic parameters

An analytical method for recovering 3-D motion and structure of four or more points from one motion of a stereo rig is described. The extrinsic parameters are unknown. Because of the exploitation of information redundancy, the approach gains over the traditional motion and structure from motion approach in that less features and less motions are required. Thus, more robust estimation of motion and structure can be obtained. Since the constraint on the rotation matrix is not fully exploited in the analytical method, nonlinear minimization can be used to improve the result. Both computer simulated data and real data are used to validate the proposed algorithm. Very promising results are obtained