| Structure
from motion |
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| How many points
do we need to match? |
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| • | 2 frames: |
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| (R,t): 5 dof + 3n point locations |
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| 4n point measurements |
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| n
5 |
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| • | k frames: |
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| 6(k–1)-1
+ 3n 2kn |
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| • | always want to
use many more |
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