Understanding noise sensitivity in structure from motion
Kostas Daniilidis, Minas E. Spetsakis · 1996
Solutions to the structure from motion problem have been shown to be very sensitive to measurement noise and the respective motion and geometry configuration. Statistical error analysis has become an invaluable tool in analyzing the sensitivity phenomenon. This paper presents a unifying approach to the problems of statistical bias, correlated noise, choice of error metrics, geometric instabilities and information fusion exploring several assumptions commonly used in motion estimation and reviews several promising techniques for motion estimation. The techniques are based on a small number of principles of statistics and perturbation theory. The analyticity of the approach enables the design of alternatives overcoming the observed instabilities. 1. Introduction The problem of estimation of structure and motion from moving sequences of images has been attacked by the research community in three stages. The first stage was to answer the question of existence of a solution. This question ...