Surface correspondence and motion computation from a sequence of range images

The estimation of the motion transformation of a moving object from a sequence of images is of prime interest in computer vision. In this paper, the issues in estimating the motion parameters from a sequence of range images are addressed. The motion estimation task involves: (1) extracting the surfaces and establish the correspondence of the surfaces over the frames in the sequence of range images, and (2) computing the motion transformation using these surface correspondences. A novel procedure based on a hierarchical hypergraph representation of range images is presented for finding surface correspondence. Motion transformation between image frames is computed using the planar and the quadric surface pairings. The authors' solution strategy computes the motion by extracting unique linear features from the quadric surfaces and using them to compute the motion transformation