Direct methods for estimation of structure and motion from three views
Gideon P. Stein, Amnon Shashua · DSpace@MIT (Massachusetts Institute of Technology) · 1996
We describe a new direct method for estimating structure and motion from image intensities of multiple views. We extend the direct methods of [7] 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. Copyright c fl Massachusetts Institute of Technology, 1996 This report describes research done at the Artificial Intelligence Laboratory of the Massachusetts Institute of Technology. Support for this research was provided in part by the Advanced Research Projects Agency of the Department of Defense under Office of Naval Research contract N00014-94-01-0994. G.P.S. is supported by Alphatech/ DARPA "Automatic Target Recognition" project 95009-5381 and TASC/ DAR...