Abstract
A cooperative schema is proposed in which binocular disparity,
computed on several stereo images over time, is combined with optical
flow from the same sequence to obtain a relative-depth map of the scene.
Both time-to-impact and depth scaled by the distance of the camera from
the fixation point in space are considered as good, relative
measurements which are based on the viewer (but centered on the
environment). Two experiments, performed on image sequences from real
scenes, are presented
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