Direct motion stereo for passive navigation

The problem of motion recovery for a head-eye system from stereo image sequences is addressed. Two types of motions, the translation of the vehicle and the panning motion of the head, are considered. It is shown how these motions and the depth map can be estimated directly from the measurements of image gradients and time derivatives. There is no need to estimate image motion, track a scene feature over time, or establish point correspondences in a stereo image pair. The results of various experiments with real scenes are presented.<
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