A parallel network for the computation of structure from long-range motion

The authors propose a parallel architecture for computing the 3-D structure of a moving scene from a long image sequence, using a principle known as the incremental rigidity scheme. At each instant an internal model of the 3-D structure is updated, based upon the observations accumulated until that time. The updating process favors rigid transformations but tolerates a limited deviation from rigidity. This deviation eventually leads the internal model to converge towards the actual 3-D structure of the scene. The main advantage of this architecture is its ability to accurately estimate the 3-D structure of the scene at a low computational cost. Testing has been successfully performed on synthetic data as well as real image sequences