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<p><b>Abstract</b>—The problem of depth-from-motion using a monocular image sequence is considered. A pixel-based model is developed for direct depth estimation within a Kalman filtering framework. A method is proposed for incorporating local surface structure into the Kalman filter. Experimental results are provided to illustrate the effect of structural information on depth estimation.</p>
Depth-from-motion, Kalman filter, gradient method, surface structure, image sequence.

Y. Hung and H. Ho, "A Kalman Filter Approach to Direct Depth Estimation Incorporating Surface Structure," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 21, no. , pp. 570-575, 1999.
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