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A substantial amount of effort has been invested by computer vision researchers over the past 10 years on developing robust methods for computing 3\u2010D structure from a sequence of 2\u2010D images. However, robust computation of 3\u2010D structure, with respect to even small amounts of input image noise, has remained elusive. The approach adopted in this article is one of model extension and refinement. A partial model of the environment is assumed to exist and this model is extended over a sequence of frames. As will be shown in the experiments, prior knowledge of the small partial model greatly enhances the robustness of the 3\u2010D structure computations. The initial 3\u2010D model may have errors and these are also refined over the sequence of frames. \u00a9 1992 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620090605","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:14:33Z","timestamp":1183727673000},"page":"753-771","source":"Crossref","is-referenced-by-count":0,"title":["Model extension and refinement using pose recovery techniques"],"prefix":"10.1002","volume":"9","author":[{"given":"Rakesh","family":"Kumar","sequence":"first","affiliation":[]},{"given":"Allen R.","family":"Hanson","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"R.KumarandA. R.Hanson \u201cRobust estimation of camera location and orientation from noisy data with outliers \u201d Proc. of IEEE Workshop on Interpretation of 3D Scenes Austin TX November1989."},{"key":"e_1_2_1_3_2","unstructured":"L. H.Matthies \u201cDynamic Stereo Vision \u201d Ph.D. thesis Carnegie Mellon University Pittsburgh PA October1989."},{"key":"e_1_2_1_4_2","unstructured":"G.Adiv \u201cInterpreting Optical Flow \u201d Ph.D. thesis COINS technical report 85\u201335 University of Massachusetts at Amherst Amherst MA 1985."},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1007\/BF00137443"},{"key":"e_1_2_1_6_2","unstructured":"R.DuttaandM.Snyder \u201cRobustness of correspondence\u2010based structure from motion \u201d Proc. of 3rd IEEE International Conf. on Computer Vision Osaka Japan December1990."},{"key":"e_1_2_1_7_2","article-title":"Building, registrating and fusing noisy visual maps","volume":"7","author":"Ayache N.","year":"1988","journal-title":"Int. J. Robo. Res."},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/34.87338"},{"key":"e_1_2_1_9_2","unstructured":"J.OliensisandJ. 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R.Hanson \u201cTranslating optical flow into token matches and depth from looming \u201d Proc. of Second International Conf. on Computer Vision 1988 pp.441\u2013448.","DOI":"10.1109\/CCV.1988.590021"},{"key":"e_1_2_1_16_2","unstructured":"J. R.Beveridge R.Weiss andE.Riseman \u201cOptimization of 2\u2010dimensional model matching \u201d Proc. of IEEE International Conf. on Pattern Recognition Atlantic City NJ June1990."},{"key":"e_1_2_1_17_2","unstructured":"R.KumarandA. 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