Epipolar geometry from the deformation of an active contour

An active contour is used to track a target in a sequence recorded by a walking robot in an unstructured scene. The deformations of the contour are analysed in order to extract the robot´s egomotion, from which we compute the epipolar geometry that guides the matching between different views of the scene. The results prove that the proposed solution is a promising alternative to the prevalent techniques based on the costly computation of displacement or velocity fields