A Refinement Method for Structure from Stereo Motion

For robot navigation and visual reconstruction , structure from motion (SFM) is an active issue in computer vision community and its properties are also becoming well understood. As a drawback in SFM, it is well known that the SFM methods, using small motion model such as optical flow and direct method, have inevitably motion ambiguity between translation and rotation, which is called bas-relief ambiguity. In this paper based on the robust direct method using stereo image sequence, we present a new method for improving those ambiguities. Basically, the direct method uses nearly all image pixels for estimating motion parameters and depths, and global optimization techniques are adopted for finding its solution ...