A sequential algorithm for motion estimation from point correspondences with intermittent occlusions

Practical applications of estimating an objects motion from an image sequence must address the occlusion of feature points. A sequential algorithm for estimating an object's motion and structure based upon minimizing a conditional least squares criterion is formulated. In comparison to a batch least squares solution based upon twenty image frames, this structure achieved a 98.7 fold reduction in computation time at the cost of an overall 3% increase in estimation error.