3-D MOTION ANALYSIS OF A PLANAR SURFACE BY RENORMALIZATION

This paper presents a theoretically best algorithm within the framewor k of our image noise model for reconstructing 3-D from two views when all the feature points are on a planar surface. Pointing out that stat istical bias is introduced if the least-squares scheme is used in the presence of image noise, we propose a scheme called renormalization, w hich automatically removes statistical bias. We also present an optima l correction scheme for canceling the effect of image noise in individ ual feature points. Finally, we show numerical simulation and confirm the effectiveness of our method.