A linear method for determining three-dimensional motion of a rigid object is presented. In this method, two three-dimensional line correspondences are used. By using three-dimensional information of the features and observing that the rotation is unique regardless of the translation vector, the two components of motion parameters (rotation and translation) are computed separately. Also in this paper, the solution is given without a scale factor which is necessary in other methods that use only the two-dimensional projective constraints.
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