Motion and structure from multiple cues; image motion, shading flow, and stereo disparity
Computer Vision and Image Understanding
Towards direct recovery of shape and motion parameters from image sequences
Computer Vision and Image Understanding
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We describe a new direct method for estimating structure and motion from image intensities of multiple views. We extend the direct methods of Horn- and-Weldon to three views. Adding the third view enables us to solve for motion, and compute a dense depth map of the scene, directly from image spatio-temporal derivatives in a linear manner without first having to find point correspondences or compute optical flow. We describe the advantages and limitations of this method which are then verified through simulation and experiments with real images.