Motion and Structure from Line Correspondences; Closed-Form Solution, Uniqueness, and Optimization

This paper discusses estimating motion and structure parameters from line correspondences of a rigid scene. We present in this paper a new closed-form solution to motion and structure parameters from line correspondences through three monocular perspective views. The algorithm makes use of redundancy in the data to improve the accuracy of the solutions. The uniqueness of the solution is established, and necessary and sufficient conditions for degenerate spatial line configurations have been derived. Optimization has been employed to further improve the accuracy of the estimates in the presence of noise. Simulations have showed that the errors of the optimized estimates are close to the theoretical lower error bound.