Abstract: A method for estimating the speed a first video camera when it captures a current image of a three-dimensional scene, the current image including pixels. The method includes storing a reference image corresponding to an image of the same scene captured by a second video camera in a different pose, the reference image including pixels. The method also includes storing the current image, containing for each pixel of the current image the measurement of a physical magnitude measured by that pixel, which is the same as the physical magnitude measured by the pixels of the reference image. The method further includes storing for each pixel of the reference image or of the current image the measurement of a depth that separates that pixel from the point of the scene photographed by that pixel, estimating the pose and speed of the first video camera.

Abstract: This method comprises the estimation of the speed XvR of displacement of a camera by searching for the speed XvR which minimizes a discrepancy directly between: -a first value of a physical quantity at the level of a first point (p*) of a reference image, and -a second value of the same physical quantity at the level of a second point (p v2) of a current image, the first value of the physical quantity at the level of the first point (p*) of the reference image being constructed: -by selecting neighbour points of the first point (p*) as a function of the speed XvR and of a time to equal to the exposure time of the first camera, then -by averaging the values of the physical quantity at the level of the neighbour points selected and of the first point in such a way as to generate a new value of the physical quantity at the level of the first point.