Correspondenceless motion estimation from range images

Estimation of rigid-body motion parameters in computer vision is normally performed from image correspondences between two coordinate frames. A large number of methods and algorithms have been proposed based on that such correspondences are known. Unfortunately, the establishment of correspondences is often time-consuming and, in many cases, impossible. In this paper, we propose a novel correspondenceless motion estimation algorithm based on the cross matrix. For a comparative study, we also implemented a correspondenceless motion estimation algorithm based on the scatter matrix. Experimental results have demonstrated that our method is more accurate and robust than the scatter matrix-based algorithm.