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ABSTRACT
<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>
INDEX TERMS
Depth-from-motion, Kalman filter, gradient method, surface structure, image sequence.
CITATION

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.
doi:10.1109/34.771330
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