Simplifying multiple motion and structure analysis using planar parallax and image warping

Presents a formulation for 3D motion and structure analysis using motion parallax defined with respect to an arbitrary plane in the environment. It is shown that if an image coordinate system is warped using plane projective transformation with respect to a reference view, the residual image motion is dependent only on the epipoles and has a simple relation to the 3D structure. Our computational scheme avoids point/line correspondence and is based on hierarchical estimation and image warping working directly with spatiotemporal image intensities. Results on real images demonstrate how this analysis can be used to simplify ego and object motion segmentation