3-D motion and structure from 2-D motion causally integrated over time: Implementation

Abstract

The causal estimation of three-dimensional motion from a sequence of two-dimensional images can be posed as a nonlinear _ltering problem. We describe the implementation of an algorithm whose uni-form observability, minimal realization and stability have been proven analytically in [5]. We discuss a scheme for handling occlusions, drift in the scale factor and tuning of the _lter. We also present an extension to partially calibrated camera models and prove its observability. We report the performance of our implementation on a few long sequences of real images. More importantly, however, we have made our real-time implementation-which runs on a personal computer -available to the public first-hand testing.