Local Motion Estimation from Stereo Image Sequences

This paper proposes a method for representing local temporal deformations of a 3D flexible surface in an orthogonal space from a sequence of stereo images. The approach uses a disparity space as the main space in order to represent all the 3D information. The local motions are estimated removing the rigid motions from the global motion in the disparity space. A robust algorithm based on the RANSAC approach is used to estimate the rigid motions through the image sequence. An incremental SVD algorithm is used to estimate the representation space of the local motions as data is received. The approach presented in this paper is valid for any type of camera.