| 摘要 |
<p>The invention is a method for determining the motion of an image sensor through a scene directly from brightness derivatives of an image pair. A global image sensor motion constraint is combined with the local brightness constancy constraint to relate local surface models with the global image sensor motion model and local brightness derivatives. In an iterative process, the local surface models are refined using the image sensor motion as a constraint, and then the image sensor motion model is refined using the local surface models as constraints. The analysis is performed at multiple resolutions to enhance the speed of the process.</p> |
