Closed Form Solution to the Structure from Motion Problem from Line Correspondences

A theory is presented for the computation of three dimensional motion and structure from dynamic imagery, using only line correspondences. The traditional approach of corresponding microfeatures (interesting points-highlights, corners, high curvature points, etc.) is reviewed and its shortcomings are discussed. Then, a theory is presented that describes a closed form solution to the motion and structure determination problem from line correspondences in three views. The theory is compared with previous ones that are based on nonlinear equ* tions and iterative methods.