Shape from video

This paper presents a novel technique for recovering the shape of a static scene from a video sequence due to a rigidly moving camera. The solution procedure consists of two stages. In the first stage, the rigid motion of the camera at each instant in time is recovered. This provides the transformation between successive viewing positions. The solution is achieved through new constraints which relate 3D motion and shape directly to the image derivatives. These constraints allow to combine the processes of 3D motion estimation and segmentation by exploiting the geometry and statistics inherent in the data. In the second stage the scene surfaces are reconstructed through an optimization procedure which utilizes data from all the frames of the video sequence. A number of experimental results demonstrate the potential of the approach.