Shape and motion from simultaneous equations with closed-loop solution

摘要

This paper proposes a method for simultaneously estimating 2D image motion and 3D object shape and motion from only two frames. The problem is formulated in a system of equations, including the differential epipolar constraint, a newly derived optical flow equation and surface normal constraint, under the assumption of perspective projection, rigid motion, Lambertian reflectance and distant lighting. A closed-loop solver is constructed based on the simultaneous equations to export accurate estimate for optical flow as well as dense shape and motion. Experimental results are also provided.