Motion analysis of two stereo views and its applications

Abstract

An algorithm based on the Hypothesize-and-Verify paradigm is presented to register two stereo frames taken while a mobile robot navigates in an indoor environment. The rigidity assumption plays an essential role in the algorithm. The rigidity constraints we formulated are complete for 3D line segments, which allow to compute a unique and rigid motion from two pairings of segments if they satisfying those rigidity constraints. Two appli- cations are presented in this paper: model-based object recognition, multiple object motions.