*Weng, J.Y.[Ju-Yang]*,
*Ahuja, N.*, and
*Huang, T.S.*,

**Optimal Motion and Structure Estimation**,

*PAMI(15)*, No. 9, September 1993, pp. 864-884.

IEEE DOI
BibRef
**9309**

Earlier:
*CVPR89*(144-152).

IEEE DOI
BibRef

Earlier:

**Closed-Form Solution + Maximum Likelihood:
A Robust Approach to Motion and Structure Estimation**,

*CVPR88*(381-386).

IEEE DOI
BibRef

Earlier:

**Motion Modeling and Prediction**,

*ICPR86*(1107-1109).
Analysis of a number of factors in motion estimation comparing
image error, epipolar error, linear algorithms, sequential, batch, IEKF, etc.
See also 3-D Motion Estimation, Understanding, and Prediction from Noisy Image Sequences.
BibRef

*Weng, J.Y.[Ju-Yang]*,
*Huang, T.S.*, and
*Ahuja, N.[Narendra]*,

**Motion and Structure from Two Perspective Views:
Algorithms, Error Analysis, and Error Estimation**,

*PAMI(11)*, No. 5, May 1989, pp. 451-476.

IEEE DOI
BibRef
**8905**

Earlier:

**Motion from Images: Image Matching Parameter
Estimation and Intrinsic Stability**,

*Motion89*(359-366).
BibRef

And:
(Possibly different author order):

**Motion and Structure from Point Correspondences:
A Robust Algorithm for Planar Case with Error Estimation**,

*ICPR88*(I: 247-251).

IEEE DOI
BibRef

And:

**Error Analysis of Motion Parameter Estimation from Image Sequences**,

*ICCV87*(703-707).
*Motion, Estimation evaluation*. An interesting error analysis that indicates that the special case
of motion toward (from) the observer is ideal. This depends the
least on the Z component of the motion which is the worst (for
direction of the motion).
For matching:
See also Matching Two Perspective Views.
See also 3-D Motion Estimation, Understanding, and Prediction from Noisy Image Sequences.
BibRef

*Hu, X.P.*,
*Ahuja, N.*,

**Mirror Uncertainty and Uniqueness Conditions for
Determining Shape and Motion from Orthographic Projection**,

*IJCV(13)*, No. 3, December 1994, pp. 295-309.

Springer DOI
See also Motion and Structure Estimation Using Long Sequence Motion Models.
BibRef
**9412**

*Hu, X.P.[Xiao-Ping]*,
*Ahuja, N.[Narendra]*,

**Sufficient Conditions for Double or Unique Solution of
Motion and Structure**,

*CVGIP(58)*, No. 2, September 1993, pp. 161-176.

DOI Link
BibRef
**9309**

Earlier:

**Necessary and sufficient conditions for a unique solution of plane
motion and structure**,

*CAIP93*(436-443).

Springer DOI
**9309**

BibRef

*Kanatani, K.I.*,

**Unbiased Estimation and Statistical Analysis of 3-D Rigid Motion
from Two Views**,

*PAMI(15)*, No. 1, January 1993, pp. 37-50.

IEEE DOI Least-squares solution based on epipolar constraint is biased.
BibRef
**9301**

*Sohn, W.*,
*Kehtarnavaz, N.D.*,

**Analysis of Camera Movement Errors in Vision-Based Vehicle Tracking**,

*PAMI(17)*, No. 1, January 1995, pp. 57-61.

IEEE DOI
BibRef
**9501**

And:
Erratum:
*PAMI(17)*, No. 2, February 1995, pp. 224-224.

IEEE Top Reference. Analyze the errors from platform movement -- how they
affect egomotion computations.
BibRef

*Kehtarnavaz, N.D.*,
*Sohn, W.*,

**Error Analysis Of Camera Movements In Stereo Vehicle Tracking-Systems**,

*CVIU(62)*, No. 3, November 1995, pp. 347-359.

DOI Link
BibRef
**9511**

Earlier:

**Analysis of camera movements in stereo vision-based vehicle tracking**,

*ICIP94*(II: 710-714).

IEEE DOI
**9411**

(Texas A&M)
BibRef

*Lin, Y.C.*,
*Tsai, Y.P.*,
*Hung, Y.P.*,
*Shih, Z.C.*,

**Comparison Between Immersion-Based and Toboggan-Based Watershed Image
Segmentation**,

*IP(15)*, No. 3, March 2006, pp. 632-640.

IEEE DOI
**0604**

BibRef

*Tsai, C.J.*,
*Hung, Y.P.*, and
*Hsu, S.C.*,

**Comparison between Asymptotic Bayesian Approach and Kalman Filter-Based
Technique for 3D Reconstruction Using an Image Sequence**,

*CVPR93*(206-211).

IEEE DOI Small motions to get surfaces based on highly textured surfaces
(image mapped on a cube or cylinder).
BibRef
**9300**

*Daniilidis, K.*, and
*Nagel, H.H.*,

**Analytic Results on Error Sensitivity of Motion Estimation
from Two Views**,

*IVC(8)*, No. 4, November 1990, pp. 297-303.

PS File.
BibRef
**9011**

Earlier:
*ECCV90*(199-208).

Springer DOI
BibRef

*Daniilidis, K.[Kostas]*, and
*Spetsakis, M.E.[Minas E.]*,

**Understanding Noise Sensitivity in Structure from Motion**,

*VisNav93*(xx-yy).
BibRef
**9300**

*Aloimonos, Y.*, and
*Brown, C.M.*,

**Perception of Structure from Motion: I: Optic Flow vs.
Discrete Displacements; II: Lower Bound Results**,

*CVPR86*(510-517).
*Motion, Structure Evaluation*. The optic flow field contains much less information than the
discrete displacements field. I.e. large motions beat small motions.
BibRef
**8600**

*Weldon, Jr., E.J.*, and
*Liu, H.*,

**How Accurately Can Direct Motion Vision Determine Depth**,

*CVPR91*(613-618).

IEEE DOI Using "apparent size" it is about 3%.
BibRef
**9100**

*Dutta, R.*, and
*Snyder, M.A.*,

**Robustness of Structure from Binocular Known Motion**,

*Motion91*(81-86).
Structure from known motion, analysis of limits on results. Two
frames, 40' away, move 4' a 10% error. Motion should be about 6
times a comparable stereo baseline.
BibRef
**9100**

*Dutta, R.*, and
*Snyder, M.A.*,

**Robustness of Correspondence-Based Structure from Motion**,

*ICCV90*(106-110).

IEEE DOI
BibRef
**9000**

And:
*DARPA90*(299-313).
Analysis of rotational motions. Seems to agree with the expected
results.
BibRef

*Bharwani, S.[Seraj]*,
*Riseman, E.M.*, and
*Hanson, A.R.*,

**Refinement of Environmental Depth Maps over Multiple Frames**,

*Motion86*(73-80).
BibRef
**8600**

And:
*DARPA85*(413-420).
*Motion, Structure Evaluation*. Multiple frames are used to eliminate ambiguities. Errors are
inherent in computing depth from motion, with more estimates,
maybe the results are better.
BibRef

*Thomas, J.I.*,
*Hanson, A.R.*, and
*Oliensis, J.*,

**Understanding Noise: The Critical Role of Motion Error in Scene
Reconstruction**,

*ICCV93*(325-329).

IEEE DOI
BibRef
**9300**

And:
*DARPA93*(691-695).
BibRef

And:

**The Terms of Error Convariance Matrices and Their Effect on MFSFM**,

*UMass*CS-TR-93-12, February 1993.
BibRef

*Thomas, J.I.*,
*Hanson, A.R.*,

**Applying Multiframe Reconstruction to Pose Estimation**,

*UMass*CS-TR-93-11, February 1993.
BibRef
**9302**

*Maybank, S.J.[Stephen J.]*,

**Theory of Reconstruction from Image Motion**,

*Springer-Verlag*Berlin, 1992.
BibRef
**9200**

*Maybank, S.J.[Stephen J.]*,

**Ambiguity in Reconstruction from Image Correspondences**,

*IVC(9)*, No. 2, April 1991, pp. 93-99.

Elsevier DOI
BibRef
**9104**

Earlier:
*ECCV90*(175-186).

Springer DOI Not much new.
BibRef

*Maybank, S.J.[Stephen J.]*,

**A filter with a guaranteed asymptotic performance**,

*RoyalP(A: 441)*, 1993, pp. 33-57.
BibRef
**9300**

*Maybank, S.J.[Stephen J.]*,

**Finite-dimensional filters**,

*Royal(A: 354)*, 1996, pp. 1099-1123.
BibRef
**9600**

*Matthies, L.H.*, and
*Shafer, S.A.*,

**Error Modelling in Stereo Navigation**,

*RA(3)*, No. 3, 1987, pp. 239-248.
BibRef
**8700**

Earlier:
*CMU-CS-TR*-86-140, CMU CS Dept., 1986.
The assumption is that motion is in a plane and the 2-D motion can
be approximated with some errors. This is similar to the UMass
error papers and does not seem to say a lot, except that
it is possible.
BibRef

*Chaudhuri, S.*,
*Chatterjee, S.*,

**Performance Analysis of Total Least Squares Methods in
Three-Dimensional Motion Estimation**,

*RA(7)*, 1991, pp. 707-714.
BibRef
**9100**

*Oliensis, J.[John]*,

**A Critique of Structure-from-Motion Algorithms**,

*CVIU(80)*, No. 2, November 2000, pp. 172-214.

DOI Link

PS File.
**0012**

BibRef

And:
Errattum:
*CVIU(84)*, No. 3, December 2001, pp. 407-408.

DOI Link
**0207**

See also Rigorous Bounds for Two-Frame Structure from Motion.
BibRef

*Oliensis, J.[John]*,
*Govindu, V.[Venu]*,

**An Experimental Study of Projective Structure from Motion**,

*PAMI(21)*, No. 7, July 1999, pp. 665-671.

IEEE DOI

PS File. Comparison between Euclidean and projective approaches.
Euclidean is as accurate as projective. Projective has less
trouble with local-minima.
BibRef
**9907**

*Oliensis, J.[John]*,

**A New Structure-from-Motion Ambiguity**,

*PAMI(22)*, No. 7, July 2000, pp. 685-700.

IEEE DOI

PS File.
**0008**

BibRef

Earlier:
*CVPR99*(I: 185-191).

IEEE DOI In Euclidean structure from motion, with large depth variations.
Ambiguity noted in:
See also Computing the Camera Heading from Multiple Frames. and
See also Optimal Structure from Motion: Local Ambiguities and Global Estimates. Further discussed in:
See also Recursive 3-D Visual-Motion Estimation Using Subspace Constraints. now explained.
Also appears in
See also Direction of Heading from Image Deformations.
BibRef

*Oliensis, J.[John]*,

**Exact Two-Image Structure from Motion**,

*PAMI(24)*, No. 12, December 2002, pp. 1618-1633.

IEEE Abstract.
**0212**

BibRef

*Jacobs, D.W.[David W.]*,

**Linear Fitting with Missing Data for Structure-from-Motion**,

*CVIU(82)*, No. 1, April 2001, pp. 57-81.

DOI Link
**0104**

*Code, Surface Fitting*. Code:

WWW Link.
BibRef

Earlier:

**Linear Fitting with Missing Data: Applications to
Structure from Motion and to Characterizing Intensity Images**,

*CVPR97*(206-212).

IEEE DOI
**9704**

Problems reduce to fitting surface to data.
BibRef

*Cheong, L.F.[Loong-Fah]*,
*Xiang, T.[Tao]*,

**Characterizing Depth Distortion under Different Generic Motions**,

*IJCV(44)*, No. 3, September-October 2001, pp. 199-217.

DOI Link
**0111**

See also Depth distortion under calibration uncertainty. Given the errors in camera calibrations, what are the effects.
For lateral motion, although Euclidean
reconstruction is difficult, ordinal depth information is obtainable; while for
forward motion, depth information (even partial one) is difficult to recover.
BibRef

*Xiang, T.[Tao]*,
*Cheong, L.F.[Loong-Fah]*,

**On the distortion of shape recovery from motion**,

*IVC(22)*, No. 10, 1 September 2004, pp. 807-817.

Elsevier DOI
**0409**

BibRef

Earlier:

**Distortion of Shape from Motion**,

*BMVC02*(Poster Session).
**0208**

BibRef

*Cheong, L.F.[Loong-Fah]*,
*Peh, C.H.[Chin-Hwee]*,

**Depth distortion under calibration uncertainty**,

*CVIU(93)*, No. 3, March 2004, pp. 221-244.

Elsevier DOI
**0402**

See also Characterizing Depth Distortion under Different Generic Motions.
BibRef

*Cheong, L.F.[Loong-Fah]*,

**Depth Perception Under Motion and Stereo with Implications for 3D TV**,

*3DTV07*(1-4).

IEEE DOI
**0705**

BibRef

*Ma, Y.[Yi]*,
*Kosecká, J.[Jana]*,
*Sastry, S.[Shankar]*,

**Linear Differential Algorithm for Motion Recovery:
A Geometric Approach**,

*IJCV(36)*, No. 1, January 2000, pp. 71-89.

DOI Link
**9912**

BibRef

Earlier:

**Motion Recovery from Image Sequences:
Discrete Viewpoint vs. Differential Viewpoint**,

*ECCV98*(II: 337).

Springer DOI See also Differential Geometric Approach to Multiple View Geometry in Spaces of Constant Curvature, A.
BibRef

*Ma, Y.[Yi]*,
*Kosecká, J.[Jana]*,
*Sastry, S.[Shankar]*,

**Optimization Criteria and Geometric Algorithms for Motion and Structure
Estimation**,

*IJCV(44)*, No. 3, September-October 2001, pp. 219-249.

DOI Link
**0111**

Study the main aspects of motion and structure
recovery: the choice of objective function, optimization techniques and
sensitivity and robustness issues in the presence of noise. And
the interactions.
BibRef

*Zhang, W.[Wei]*,
*Kosecka, J.[Jana]*,

**Ensemble Method for Robust Motion Estimation**,

*RANSAC06*(100).

IEEE DOI
**0609**

BibRef

And:

**Nonparametric Estimation of Multiple Structures with Outliers**,

*WDV06*(60-74).

Springer DOI
**0705**

BibRef

*Lingrand, D.[Diane]*,

**An Exhaustive Study of Particular Cases Leading to Robust and Accurate
Motion Estimation**,

*CVIU(85)*, No. 3, March 2002, pp. 159-188.

DOI Link
**0211**

BibRef

*Xiang, T.[Tao]*,
*Cheong, L.F.[Loong-Fah]*,

**Understanding the Behavior of SFM Algorithms: A Geometric Approach**,

*IJCV(51)*, No. 2, February 2003, pp. 111-137.

DOI Link
**0301**

BibRef

*Cheong, L.F.[Loong-Fah]*,
*Xiang, X.[Xu]*,

**Behaviour of SFM algorithms with erroneous calibration**,

*CVIU(115)*, No. 1, January 2011, pp. 16-30.

Elsevier DOI
**1011**

BibRef

Earlier:

**Error Characteristics of SFM with Erroneous Focal Length**,

*ACCV06*(I:714-723).

Springer DOI
**0601**

Motion analysis; Camera calibration; Error analysis
BibRef

*Cheong, L.F.[Loong-Fah]*,
*Li, S.M.[Shi-Miao]*,

**Error Analysis of SFM Under Weak-Perspective Projection**,

*ACCV06*(II:862-871).

Springer DOI
**0601**

BibRef

*Roy Chowdhury, A.K.[Amit K.]*, and
*Chellappa, R.[Rama]*,

**Stochastic Approximation and Rate-Distortion Analysis for Robust
Structure and Motion Estimation**,

*IJCV(55)*, No. 1, September 2003, pp. 27-53.

DOI Link
**0307**

BibRef

And:
*UMD*--TR4261, June 2001.

WWW Link.

WWW Link. Focus on sources of errors, experimental and theoretical analysis,
robust and information-theoretic techniques to characterize
the quality of reconstruction.
BibRef

*Roy Chowdhury, A.K.*,
*Chellappa, R.*,

**An Information Theoretic Criterion for Evaluating the Quality of 3-D
Reconstructions from Video**,

*IP(13)*, No. 7, July 2004, pp. 960-973.

IEEE DOI
**0406**

BibRef

*Roy Chowdhury, A.K.[Amit K.]*,
*Chellappa, R.[Rama]*,

**Statistical Analysis of 3d Modeling From Monocular Video Streams**,

*UMD*-- TR4383, July 2002.

WWW Link.

WWW Link.
BibRef
**0207**

*Roy Chowdhury, A.K.[Amit K.]*,
*Chellappa, R.[Rama]*,

**Face reconstruction from monocular video using uncertainty analysis and
a generic model**,

*CVIU(91)*, No. 1-2, July-August 2003, pp. 188-213.

Elsevier DOI
**0309**

BibRef

*Roy Chowdhury, A.K.[Amit K.]*,
*Chellappa, R.[Rama]*,

**Statistical bias in 3-D reconstruction from a monocular video**,

*IP(14)*, No. 8, August 2005, pp. 1057-1062.

IEEE DOI
**0508**

BibRef

Earlier:

**Statistical Bias and the Accuracy of 3d Reconstruction from Video**,

*UMD*-- TR4303, November 2001.

WWW Link.

WWW Link.
BibRef

*Roy Chowdhury, A.K.*,
*Chellappa, R.*,

**Robust Estimation of Depth and Motion Using Stochastic Approximation**,

*ICIP01*(I: 642-645).

IEEE DOI
**0108**

BibRef

*Agrawal, A.K.[Amit K.]*,
*Chellappa, R.[Rama]*,

**Robust Ego-Motion Estimation and 3-D Model Refinement Using Surface
Parallax**,

*IP(15)*, No. 5, May 2006, pp. 1215-1225.

IEEE DOI
**0605**

BibRef

Earlier:

**Ego-Motion Estimation and 3D Model Refinement in Scenes with Varying
Illumination**,

*Motion05*(II: 140-146).

IEEE DOI
**0502**

BibRef

Earlier:

**Robust ego-motion estimation and 3d model refinement using depth based
parallax model**,

*ICIP04*(IV: 2483-2486).

IEEE DOI
**0505**

BibRef

*Chen, P.[Pei]*,
*Suter, D.[David]*,

**Recovering the Missing Components in a Large Noisy Low-Rank Matrix:
Application to SFM**,

*PAMI(26)*, No. 8, August 2004, pp. 1051-1063.

IEEE Abstract.
**0407**

Structure from motion with missing data.
See also Principal Component Analysis with Missing Data and Its Application to Polyhedral Object Modeling.
See also Linear Fitting with Missing Data for Structure-from-Motion.
BibRef

*Chen, P.[Pei]*,
*Suter, D.[David]*,

**Rank Constraints for Homographies over Two Views:
Revisiting the Rank Four Constraint**,

*IJCV(81)*, No. 2, February 2009, pp. xx-yy.

Springer DOI
**0901**

BibRef

*Chen, P.[Pei]*,
*Suter, D.[David]*,

**Error Analysis in Homography Estimation by First Order Approximation
Tools: A General Technique**,

*JMIV(33)*, No. 3, March 2009, pp. xx-yy.

Springer DOI
**0903**

Calculate the errors in estimated parameters.
BibRef

*Chen, P.[Pei]*,

**Optimization Algorithms on Subspaces:
Revisiting Missing Data Problem in Low-Rank Matrix**,

*IJCV(80)*, No. 1, October 2008, pp. xx-yy.

Springer DOI
**0809**

BibRef

*Lu, Y.[Ye]*,
*Zhang, J.Z.*,
*Wu, Q.M.J.*,
*Li, Z.N.[Ze-Nian]*,

**A survey of motion-parallax-based 3-D reconstruction algorithms**,

*SMC-C(34)*, No. 4, December 2004, pp. 532-548.

IEEE Abstract.
**0412**

*Survey, Motion Parallax*.
BibRef

*Zucchelli, M.[Marco]*,
*Kosecka, J.[Jana]*,

**Motion bias and structure distortion induced by intrinsic calibration
errors**,

*IVC(26)*, No. 5, May 2008, pp. 639-646.

Elsevier DOI
**0803**

BibRef

Earlier:

**Motion bias and structure distortion induced by calibration errors**,

*BMVC01*(Session 7: Geometry &. Structure).

HTML Version. Royal Institute of Technology
**0110**

Structure and motion recovery; Calibration sensitivity; Optical flow
BibRef

DOI Link

BibRef

And:

DOI Link

3D with multiple focus images, compare to all-focus images. Ground truth based on structured light scanner. For details. BibRef

*Ostrowski, W.*,
*Bakula, K.*,

**Towards Efficiency of Oblique Images Orientation**,

*EuroCOW16*(xx-yy).

DOI Link
**1605**

Orientation based on Structure from Motion methods.
BibRef

*Yang, X.[Xi]*,
*Klette, R.*,

**Evaluation of motion analysis on synthetic and real-world image
sequences**,

*IVCNZ10*(1-9).

IEEE DOI
**1203**

BibRef

*Roncella, R.*,
*Re, C.*,
*Forlani, G.*,

**Comparison of Two Structure and Motion Strategies**,

*3DARCH11*(xx-yy).

PDF File.
**1103**

BibRef

*Roncella, R.*,
*Re, C.*,
*Forlani, G.*,

**Performance Evaluation of a Structure and Motion Strategy in
Architecture and Cultural Heritage**,

*3DARCH11*(xx-yy).

PDF File.
**1103**

BibRef

*Wu, C.Z.[Chang-Zhu]*,
*Wang, Q.[Qing]*,

**A Comprehensive Evaluation on Non-deterministic Motion Estimation**,

*ICPR10*(2333-2336).

IEEE DOI
**1008**

BibRef

*Zhan, B.*,
*Remagnino, P.*,
*Velastin, S.A.*,
*Monekosso, N.*,
*Xu, L.Q.*,

**A Quantitative Comparison of Two New Motion Estimation Algorithms**,

*ISVC07*(I: 424-431).

Springer DOI
**0711**

BibRef

*Nister, D.[David]*,
*Kahl, F.[Fredrik]*,
*Stewenius, H.[Henrik]*,

**Structure from Motion with Missing Data is NP-Hard**,

*ICCV07*(1-7).

IEEE DOI
**0710**

BibRef

*Nister, D.[David]*,
*Hartley, R.I.[Richard I.]*,
*Stewenius, H.[Henrik]*,

**Using Galois Theory to Prove Structure from Motion Algorithms are
Optimal**,

*CVPR07*(1-8).

IEEE DOI
**0706**

BibRef

*Jähne, B.[Bernd]*,
*Garbe, C.S.*,

**Towards objective performance analysis for estimation of complex
motion: analytic motion modeling, filter optimization, and test
sequences**,

*ICIP03*(III: 73-76).

IEEE DOI
**0312**

BibRef

*Betke, M.[Margrit]*,
*Naftali, E.[Eran]*, and
*Makris, N.C.[Nicholas C.]*,

**Necessary Conditions to Attain Performance Bounds on Structure and
Motion Estimates of Rigid Objects**,

*CVPR01*(II:448-455).

IEEE DOI
**0110**

Study Cramer-Rao lower bound issues. Noise level, number of pixels
and texture.
BibRef

*Haddon, J.[John]*,
*Forsyth, D.A.[David A.]*,

**Noise in Bilinear Problems**,

*ICCV01*(II: 622-627).

IEEE DOI
**0106**

Analysis of noise and its effects.
BibRef

*Boufama, B.*,
*Weinshall, D.*,
*Werman, M.*,

**Shape from Motion Algorithms:
A Comparative Analysis of Scaled Orthography and Perspective**,

*ECCV94*(A:197-204).

Springer DOI
BibRef
**9400**

*Xuening, S.*, and
*Spetsakis, M.E.*,

**A Comparison of Weighted LS Methods with LS Methods in
3-D Motion Estimation from Stereo Image Sequences**,

*CVPR93*(200-205).

IEEE DOI
BibRef
**9300**

*Hayes, G.M.*,
*Fisher, R.B.*,

**Evaluation of a real-time kinetic depth system**,

*BMVC90*(xx-yy).

PDF File.
**9009**

BibRef

Last update:Oct 15, 2018 at 09:19:25