Structure from motion directly from a sequence of binocular images without explicit correspondence establishment

We address the problem of motion recovery and depth map reconstruction from a sequence of stereo images. The proposed method utilizes normal flows which are directly observable in image sequence. No explicit correspondence establishment is required. We first determine the direction of translation and the full rotation for each of the cameras in the stereo system using an iterative algorithm. Then we recover the translation magnitude using a geometrical method. Depth map in metric scale is reconstructed once the motion parameters are estimated. Experimental results on the synthetic and the real image data show that the proposed method is effective in both motion determination and depth map reconstruction.