Multiframe Structure from Motion in Perspective

A new approach to multiframe structure from motion for point features is presented. Unlike previous approaches, it gives robust reconstruction in situations commonly encountered in outdoor robot navigation, for general motion and with large perspective eeects. Under the appropriate conditions, the algorithm prov-ably gives the correct reconstruction. The typical computation time is seconds. It is argued that the new approach, combined with previous algorithms valid in other domains (e.g., Tomasi's algorithm), gives a general method for structure from motion.