Time-sequential structure and motion estimation without optical flow

Research output: Contribution to journalConference articlepeer-review

6 Scopus citations


We present a method for recovering structure and motion from a sequence of images which does not require computation of the optical flow. We build on the previously developed "Direct Motion Vision" approach for estimation of structure and motion from two frames. In this formulation structure and motion are obtained directly from the gradient of image brightness which is computed orders of magnitude faster than optical flow. The direct methodology is applied to estimate motion and normal of a planar surface relative to a camera. Using a dynamical model of the camera motion we then show how measurements from an arbitarily long sequence of images can be integrated with the help of an observer/filter to improve the estimate over time. Experimental results on real images are presented.

Original languageEnglish (US)
Pages (from-to)50-61
Number of pages12
JournalProceedings of SPIE - The International Society for Optical Engineering
StatePublished - Jan 1 1990
Externally publishedYes
EventSensing and Reconstruction of Three-Dimensional Objects and Scenes 1990 - Santa Clara, United States
Duration: Feb 11 1990Feb 16 1990

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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