Robust estimation of motion and structure using a discrete H/sub /spl infin// filter

Abstract

In this paper a robust structure from motion (SfM) algorithm using a discrete H/sub /spl infin// filter is presented. Existing SfM algorithms do not work well when large motion or measurements modeling uncertainties are present. By using a H/sub /spl infin// filter these modeling uncertainties can be successfully handled. This algorithm has been tested on synthetic image sequences and results show the superiority of the H/sub /spl infin// filtering approach.