Robust instantaneous rigid motion estimation
Pauwels, Karl and Van Hulle, Marc M.
Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), San Diego, pp. 980–985, 2005
A novel, nonlinear algorithm is introduced for the estimation of rigid camera motion from instantaneous velocity measurements in the calibrated case. It is shown that by minimizing an approximation to the image-reprojection error rather than the actual error, as done by the optimal algorithms, the proposed algorithm achieves largely increased robustness to local minima at the cost of a slightly decreased accuracy.