A Kalman filter approach to direct depth estimation incorporating surface structure
Y.S. Hung, H.T. Ho · IEEE Transactions on Pattern Analysis and Machine Intelligence · 1999
The problem of depth-from-motion using a monocular image sequence is considered. A pixel-based model is developed for direct depth estimation within a Kalman filtering framework. A method is proposed for incorporating local surface structure into the Kalman filter. Experimental results are provided to illustrate the effect of structural information on depth estimation.