Model-based brightness constraints: on direct estimation of structure and motion

We describe a direct method for estimating structure and motion from image intensities of multiple views. We extend the direct methods of Horn and Weldon (1988) 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...

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Bibliographic Details
Published in:IEEE transactions on pattern analysis and machine intelligence 2000-09, Vol.22 (9), p.992-1015
Main Authors: Stein, G.P., Shashua, A.
Format: Article
Language:English
Subjects:
Brightness
Cameras
Derivatives
Equations
Estimating
Geometrical optics
Geometry
Horns
Image motion analysis
Intelligence
Layout
Mathematical models
Motion estimation
Nonlinear optics
Optical computing
Pattern analysis
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Description
Summary:We describe a direct method for estimating structure and motion from image intensities of multiple views. We extend the direct methods of Horn and Weldon (1988) 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 with experiments using real images.
ISSN:0162-8828
1939-3539
DOI:10.1109/34.877522