document: 3D reconstruction from uncalibrated-camera optical flow and its reliability evaluation We present a scheme for reconstructing a 3D structure from optical flow observed by a camera with an unknown focal length in a statistically optimal way as well as evaluating the reliability of the computed shape . First , the flow fundamental matrices are optimally computed from the observed flow . They are then decomposed into the focal length , its rate of change , and the motion parameters . Next , the flow is optimally corrected so that it satisfies the epipolar equation exactly . Finally , the 3D positions are computed , and their covariance matrices are evaluated . By simulations and real-image experiments , we test the performance of our system and observe how the normalization -LRB- gauge -RRB- for removing indeterminacy affects the description of uncertainty
doc_bio_tags: B I O O O O O O B I O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O B I I O O O O O O O O O O O O O O O O O O O O O O O O B I O O O O O O O O O O O O O B I O O O O O O O O O O O O B I O O O O O O O O O O O O O O O O O O O O B O O O O O O O O O O O
extractive_keyphrases: 3d reconstruction reliability evaluation flow fundamental matrices motion parameters epipolar equation covariance matrices normalization
abstractive_keyphrases: uncalibrated-camera optical flow real-image experiments