An Intensity - Based Direct Methodfor Depth Estimation from Image Sequenceswith
نویسنده
چکیده
This paper presents a new incremental algorithm for directly estimating depth maps from image sequences, which is based on the modiied motion constraint equation. In order to overcome the inherent problem of the gradient-based methods which are sensitive to noise and guarantee a moderate cost, we make a scalar Kalman ltering approach with some compensation considering discontinuity and occlusion to the direct methods for recovering 3-D structures without restoring optical ow. The experiments show that the algorithm is eeective and robust to noisy real image sequences.
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