Abstract
We present a method for recovering structure and motion from a sequence of images which does not require
computation of the optical flow. We build on the previously developed "Direct Motion Vision" approach for
estimation of structure and motion from two frames. In this formulation structure and motion are obtained
directly from the gradient of image brightness which is computed orders of magnitude faster than optical flow.
The direct methodology is applied to estimate motion and normal of a planar surface relative to a camera.
Using a dynamical model of the camera motion we then show how measurements from an arbitarily long sequence
of images can be integrated with the help of an observer/filter to improve the estimate over time. Experimental
results on real images are presented.
