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

ÐWe 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 [18] 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 Index TermsÐShape representation and recovery, 3D recovery from 2D, shape from motion, image sequence analysis, algebraic and projective geometry.