OPTIMAL VISUAL-MOTION ESTIMATION - A NOTE

We analyze the problem of estimating 3-D motion in an optimal manner using correspondences of features in two views. The importance of having an optimal estimator is twofold: first, for the estimation itself and, second, for the bound it offers on how much sensitivity one can expect from a two-frame, point-based motion algorithm. The optimal estimator turns out to be nonlinear, and for that reason, we developed techniques that provide very good initial guesses for the iterative computation of the optimal estimator.