Two-view motion analysis: A unified algorithm

We present a linear algorithm for determining the three-dimensional rotation and translation of a rigid object from two time-sequential perspective views using point correspondences. The algorithm is different from existing ones in two respects. First, various measures for combating noise are incorporated. Second, the algorithm is unified in the sense that, assuming that the surface assumption holds, it can handle both the case of nonzero translation and the case of zero translation. 1