Object Shape Estimation by Ego-Motion Stereo.
Yoshihiko Nomura, Masamoto Nagaya, Seizo FUJII, Shiro Matsumura · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 1995
Object shapes and camera motions are simultaneously estimated using the Marquardt method from sequential images obtained through a moving camera. This method has many advantages : (1) Convergence of viewing lines leads to high estimation accuracy. (2) Viewing hardware is simple and applicable to large-scale objects. (3) The optimization algorithm is also simple and accurate. Furthermore, estimation errors are examined, and the optimum camera motion is presented for 2 views and 5 object points in such a way that the average error is minimized.