Towards on-line intensity-based surface recovery from monocular images

We present a novel method for vision-based recovery of three-dimensional structures through simultaneous model reconstruction and camera position tracking from monocular images. Our approach does not rely on robust feature detecting schemes (such as SIFT, Good Features to Track etc.), but works directly on intensity values in the captured images. Thus, it is well-suited for reconstruction of surfaces that exhibit only little texture due to partial homogeneity of the surfaces.