Complete structure and motion from two monocular sequences without stereo correspondence

Abstract

It is demonstrated that the motion and structure of rigidly moving objects can be completely determined from two monocular image sequences using only temporal matches. Three aspects of this scheme are useful: since stereo matching is not necessary, two cameras can view totally different parts of the rigid scene; as temporal disparity is usually significantly smaller than stereo disparity, matching needs only to deal with relatively small disparities; the recoverable scene structure is defined by the union of the fields of view of two cameras instead of the intersection, and so is much larger than that of a conventional stereo setup. Experiments with synthesized data and real world images are presented to demonstrate the feasibility of this scheme. >