We present a straightforward technique for determining the 3-D locations of feature points using sequences of monocular image frames captured by a moving camera. The motion of the camera is estimated simultaneously. In practice, only the camera needs careful calibration. Based on experiments, the repeatability is currently about 1/3500 and accuracy 1/2500. This approach has potential for high speed, as hundreds of points may be measured from the same image sequence.
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Heikkilä et al. (1996) studied this question.