Contour-based 3D motion recovery while zooming

E. Martínez Marroquín, C. Torras Genís

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


This paper considers the problem of 3D motion recovery from a sequence of monocular images while zooming. Unlike the common trend based on point matches, the proposed method relies on the deformation of an active contour fitted to a reference object. We derive the relation between the contour deformation and the 3D motion components, assuming time-varying focal length and principal point. This relation allows us to present a method to extract the rotation matrix and the scaled translation along the optical axis.

Original languageEnglish
Pages (from-to)219-227
Number of pages9
JournalRobotics and Autonomous Systems
Issue number3-4
Publication statusPublished - Mar 2003
Externally publishedYes


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