Three-dimensional motion computation and object segmentation in a long sequence of stereo frames
International Journal of Computer Vision
Hierarchical Model-Based Motion Estimation
ECCV '92 Proceedings of the Second European Conference on Computer Vision
Lens distortion calibration using point correspondences
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Model-based brightness constraints: on direct estimation of structure and motion
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
3-D surface reconstruction from stereoscopic image sequences
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Reconstructing complex surfaces from multiple stereo views
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Accurate internal camera calibration using rotation, with analysis of sources of error
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Geometric and photometric constraints: motion and structure from three views
Geometric and photometric constraints: motion and structure from three views
Practical Structure and Motion from Stereo When Motion is Unconstrained
International Journal of Computer Vision
Using Multiple-Hypothesis Disparity Maps and Image Velocity for 3-D Motion Estimation
International Journal of Computer Vision
Motion - Stereo Integration for Depth Estimation
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part II
Recognizing gaze aversion gestures in embodied conversational discourse
Proceedings of the 8th international conference on Multimodal interfaces
Epiflow-A paradigm for tracking stereo correspondences
Computer Vision and Image Understanding
Reconstruction of non-rigid 3D shapes from stereo-motion
Pattern Recognition Letters
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We investigate the relationship between the kinematics (infinitesimal motion model) of a calibrated Stereo Rig and point and line image feature measurements seen at two time instances of the rig's motion (four images in all). In particular, we are interested in the byproduct of this analysis providing a direct connection between the spatio-temporal derivatives of the images at two time instances and kinematics of the 3D motion of the Rig.We establish a fundamental result showing that 3 quadruples of point-line-line-line matches (i. e., point in the reference image and lines coincident with the corresponding points in the remaining three images) are sufficient for a unique linear solution for the kinematics of the rig. In other words, the projected instantaneous motion of "one and a half" 3D lines is sufficient for recovering the kinematics of the moving rig. In particular, spatio-temporal derivatives across 3 points are sufficient for a direct estimation of the rig's motion.Consequently, we describe a new direct estimation method for motion estimation and 3D reconstruction from stereo image sequences obtained by a stereo rig moving through a rigid world. Correspondences (optic flow) are not required as spatio-temporal derivative are used instead. One can then use the images from both pairs combined, to compute a dense depth map. Finally, since the basic equations are linear, we combine the contribution coming from all pixels in the image using a Least Squares approach.