Elsevier, Pattern Recognition Letters, 8(20), p. 847-854
DOI: 10.1016/s0167-8655(99)00050-1
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We present a simple algorithm to recover focal-length, motion parameters and three-dimensional structure of an object translating along an unknown direction. The algorithm can be useful for inspection tasks for conveyor-belt systems. In order to obtain a fully metric reconstruction our algorithm uses two non-linear constraints easily available in a real setup. The algorithm is made robust performing a preliminary outlier detection.