Abstract: The present invention is directed to a method for recovering 3D scene structure and camera motion from image data obtained from a multi-image sequence, wherein a reference image of the sequence is taken by a camera at a reference perspective and one or more successive images of the sequence are taken at one or more successive different perspectives by translating and/or rotating the camera, the method comprising the steps of determining image data shifts for each successive image with respect to the reference image; constructing a shift data matrix that incorporates the image data shifts for each image, wherein a first vector corresponds to the 3D structure and a second vector corresponds to the size of the camera motion; dividing the successive images into windows; and determining the direction of camera motion and 3D structure from the first and second vector between the windows.

Abstract: An algorithm for recovering structure and motion from points, lines and/or image intensities. The algorithm combines feature based reconstruction and direct methods. The present invention is directed to a method for recovering 3D scene structure and camera motion from image data obtained from a multi-image sequence, wherein a reference image of the sequence is taken by a camera at a reference perspective and one or more successive images of the sequence are taken at one or more successive different perspectives by translating and/or rotating the camera.