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Partial differential equation-based dense 3D structure and motion estimation from monocular image sequences This publication appears in: IET Computer Vision Authors: G. De Cubber and H. Sahli Volume: 6 Issue: 3 Pages: 174-185 Publication Year: 2012
Abstract: In this study, the authors propose an approach towards dense depth reconstruction, combining robust feature-based
structure from motion with the spatial coherence of dense reconstruction algorithms. To achieve this, a variational framework
was set up, minimising the epipolar reprojection error and the image brightness constraint, while preserving discontinuities in
the depth field by introducing an anisotropic diffusion term. As initial guess for the iterative solver, a region growing
algorithm is proposed which mixes sparse and dense data
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