In this paper, we propose a robust motion estimation algorithm using uncalibrated 3D motion model considering depth discontinuity. Most of the previous direct motion estimation algorithms with 3D motion model compute the depth value through the local smoothing, which result in erroneous results at depth discontinuity. In this paper, we overcome this problem at depth discontinuity by adding discontinuity preserving regularization term to the original equation. Robust estimation enables motion segmentation through the dominant camera motion compensation. Experimental results show the improved result at the depth discontinuity.
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