On 3D scene flow and structure estimation

Abstract

In this paper, novel algorithms computing dense 3D scene flow from multiview image sequences are described. A new hierarchical rule-based stereo matching algorithm is presented to estimate the initial disparity map. Different available constraints under a multiview camera setup are investigated and then utilized in the proposed motion estimation algorithms. We show two different formulations for 3D scene flow computation. One formulation assumes that initial disparity map is accurate while the other does not make this assumption. Image segmentation information is used to maintain the motion and depth discontinuities. Iterative implementations are used to successfully compute 3D scene flow and structure at every point in the reference image. Novel hard constraints are introduced in this paper to make the algorithms more accurate and robust. Promising experimental results are seen by applying our algorithms to real imagery.