Detecting height from constrained motion

A novel method called height from motion (HFM) is developed to estimate the motion and structure under planar motion. By using this method both translational and rotational motion (three degrees of freedom) can be treated in a unified manner. Based on the HFM method, the correspondence problem becomes easy to deal with, especially under translational motion. Experiments of real scene image sequences and the error analysis (theoretically and experimentally) have shown the efficiency and robustness of the method