3D motion and scene structure estimation with motion dependent distortion of measurement windows

We present a two stage technique for estimation of rigid body motion and scene structure from monocular image sequences. The robustness of motion recovery is considerably increased by motion dependent distortion of rectangular measurement windows. In the first stage, we estimate a set of candidate motion parameter sets from which the optimum is determined in a second step evaluating motion based image content deformation together with corresponding depth values. Experimental results show that the motion parameter estimation error can be reduced significantly.