A simple procedure to solve motion and structure from three orthographic views
X. Zhuang, Thomas S. Huang, R.M. Haralick · IEEE Journal on Robotics and Automation · 1988
In his work on motion analysis, Ullman (1979) showed that for the orthographic case, four-point correspondences over three views are sufficient to determine motion and structure of the four-point rigid configuration. However, his method is nonlinear and the conditions of uniqueness and convergence of his algorithm are not made clear. A simple linear algorithm to solve Ullman's problem of determining motion and structure from three orthographic views is presented. Necessary and sufficient conditions of a unique solution are also given.>