DIRECT METHOD TO OBTAIN STRAIGHT EDGE DEPTH FROM MOTION

Jose´J. GuerreroCarlos Sagu¨e´sUniversidad de ZaragozaCentro Polite´cnico SuperiorDepartamento de Informa ´tica e IngenieriaSistemasMari´a de Luna 3E-50015 Zaragoza, SpainE-mail: jguerrer@posta.unizar.esAbstract. We develop a method to estimate the 3-D location of straightedges captured from a mobile camera. The location uncertainty is alsocomputed. A new direct formulation is presented that avoids both fulloptical flow and correspondence computations. The algorithm uses im-age regions that support straight edges and can be applied to small,known camera motions. When the image disparity is small, coherentdepth results are obtained in a way more efficient than with acorrespondence-based approach.

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