Aragón (CONAI). Motion and Structure from Straight Edges with Tip

In mobile vision the structure and motion have usually to be determined. Several kinds of methods, some of them based on correspondence of points or lines have been used. In this paper we present an algorithm to solve the prob-lem with three straight edges with tip in three frames, which introduces some advantages compared with the features used in other methods. The procedure presented has been tested with simulated data and the results with real images are also shown.