Depth from dynamic stereo images

A novel depth computation algorithm is described. Based on linear equations derived from the consideration of relative normal velocity, this algorithm determines depth values locally and uniquely from normal velocities. Multiple independently moving objects present no problem for the algorithm. A velocity constraint is implemented to estimate normal velocities from intensity images. Experiments to determine depth values from both synthetic images and real images are presented. The experiments show that the depth-recovery algorithm can recover correct values from intensity images. The accuracy of the depth values depends heavily on the accuracy of the normal velocities