3D-vision for active visual loops using locally rectilinear edges

The attainment of reliable, robust, and relevant 3D visual cues for active visual exploration of the surroundings is addressed. To achieve this goal, the relationships among the 2D motion field, the 3D motion, and the structure of the scene are analyzed, for the case of locally rectilinear edges. A new set of equations is proposed, and a simplified implementation of a nonlinear feedforward estimator is described. The results are illustrated by a structure-from-motion experiment