We present a set of automatic methods for the recovery and refinement of 3D scene geometry and camera poses from motion imagery. First, we present a two-frame "direct" method, which simultaneously estimates both relative pose between the cameras and 3D scene geometry using information from the images alone. Second, we discuss how to automatically estimate pose and scene geometry using extended sequences. Third, we present methods for recovery of pose when a scene model is known a priori. We show how the recovered pose can be use to extend and refine the scene model. Finally, we present applications of the above techniques for 3D imagery manipulation such as enhanced visualization of video, synthetic view generation and insertion of synthetic objects in the imagery.
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