Surface correspondence and motion computation from a sequence of range images

The estimation of the motion transformation of a moving object from a sequence of images is of prime interest in computer vision. In this paper, the issues in estimating the motion parameters from a sequence of range images are addressed. The motion estimation task involves: (1) extracting the surfaces and establish the correspondence of the surfaces over the frames in the sequence of range images, and (2) computing the motion transformation using these surface correspondences. A novel procedure based on a hierarchical hypergraph representation of range images is presented for finding surface correspondence. Motion transformation between image frames is computed using the planar and the quadric surface pairings. The authors´ solution strategy computes the motion by extracting unique linear features from the quadric surfaces and using them to compute the motion transformation