Dense Structure from a Dense Optical Flow Sequence

摘要

This paper presents a structure from motion system which delivers dense structureinformation from a sequence of dense optical flows. Most traditional feature based approaches cannot be extended to compute dense structure due to impractical computational complexity. We demonstrate that by decomposing uncertainty information into independent and correlated parts we can decrease these complexities from 0 (N2) to 0(N), where is the number of pixels in the images. We also show that this dense structure from motion system requires only local optical flows, i.e. image matchings between two adjacent frames, instead of the trucking of features over a long sequence of frames.