AUTHOR=Mitiche Amar , Mathlouthi Yosra , Ben Ayed Ismail 
  
TITLE=Monocular Concurrent Recovery of Structure and Motion Scene Flow
  
JOURNAL=Frontiers in ICT
  
VOLUME=Volume 2 - 2015
  
YEAR=2015
  
URL=https://www.frontiersin.org/journals/ict/articles/10.3389/fict.2015.00016
  
DOI=10.3389/fict.2015.00016
  
ISSN=2297-198X
  
ABSTRACT=This paper describes a variational method of joint three-dimensional structure and motion scene  flow recovery from a single image sequence. A basic scheme is developed by minimizing a functional with a term of conformity of scene flow and depth to the image sequence spatiotemporal variations, and quadratic smoothness regularization terms. The data term follows by re-writing optical velocity in the optical flow gradient constraint in terms of scene flow and depth. As a result, this problem statement is analogous to the classical Horn and Schunck optical flow formulation except that it involves scene flow and depth rather than image motion. When discretized, the Euler-Lagrange equations give a large scale sparse system of linear equations in the unknowns of the scene flow three coordinates and depth. The equations can be ordered in such a way that its matrix is symmetric positive definite such that they can be solved efficiently by Gauss-Seidel iterations. Experiments are shown to verify the scheme’s validity and efficiency.