19.9.12 Error Analysis of Motion and Structure Computations

Chapter Contents (Back)
Evaluation, Motion. Motion, Structure Evaluation. Motion, Estimation Evaluation.

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,
UMassCS-TR-93-12, February 1993. BibRef

Thomas, J.I., Hanson, A.R.,
Applying Multiframe Reconstruction to Pose Estimation,
UMassCS-TR-93-11, February 1993. BibRef 9302

Maybank, S.J.[Stephen J.],
Theory of Reconstruction from Image Motion,
Springer-VerlagBerlin, 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

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

Capolupo, A.[Alessandra], Saponaro, M.[Mirko], Mondino, E.B.[Enrico Borgogno], Tarantino, E.[Eufemia],
Combining Interior Orientation Variables to Predict the Accuracy of Rpas-Sfm 3D Models,
RS(12), No. 17, 2020, pp. xx-yy.
DOI Link 2009
Remotely piloted aerial systems. BibRef

Dong, X.S.[Xing-Shuai], Garratt, M.A.[Matthew A.], Anavatti, S.G.[Sreenatha G.], Abbass, H.A.[Hussein A.],
Towards Real-Time Monocular Depth Estimation for Robotics: A Survey,
ITS(23), No. 10, October 2022, pp. 16940-16961.
IEEE DOI 2210
Estimation, Feature extraction, Robots, Structure from motion, Task analysis, Monocular depth estimation, survey BibRef

Kontogianni, G., Chliverou, R., Koutsoudis, A., Pavlidis, G., Georgopoulos, A.,
Investigating the Effect of Focus Stacking on SFM-MVS Algorithms,
3DARCH17(385-389).
DOI Link 1805
BibRef
And:
Enhancing Close-up Image Based 3D Digitisation with Focus Stacking,
CIPA17(421-425).
DOI Link 1805
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