3D structure and motion estimation using range and intensity images
C. Boucher, Jean-Charles Noyer, Mohammed Benjelloun · 2003
We present a 3D dynamic reconstruction method based on the point representation of a segment using sequences of images. Our vision system delivers at every time, two images of the scene: an intensity image and a range image. This estimation problem is solved by a global filter that matches the segments through the sequences of intensity and range images, and fuses the information from both sensors to estimate the 3D structure and motion of an object.