**Mitiche and Bouthemy
1984 : **The general context
of this work is dynamic scene analysis which, in broad terms, is concerned with
the processing of time-ordered sequences of images called dynamic images. More
precisely, we are interested in determining three-dimensional object structure
and motion from a time-ordered sequence of stereoscopic pairs of
two-dimensional images. Of interest here are point-structures. We will limit
ourselves to 4-point structures because, in our context, we need 4 points to
solve for motion. The basic assumption is that we are given a rigid structure
of four non-coplanar points for which the following is known: Its internal
orientation and the distance between each pair of its points. Briefly , the
internal orientation of a point-structure is related to the triple product of
vectors associated with the edges between points of this structure. A formal
definition will be given in the next section. Monocular views of
point-structures have been used in several studies to determine the
three-dimensional structure and movement of objects. Also, point structures
have been of practical interest in several studies. For example, monocular
views of object points have been used in the context of video coding,
space-shuttle remote manipulation and for the study of sprung-mass response of
vehicles in collision with highway barriers. As well, the measurement of
position of objects from binocular imaging, or stereopsis, has been the topic
of many studies. Practical applications include cartographic mapping, passive
navigation, and modeling of the human visual system.