Cooperative analysis of multiple frames by visual echoes

Many computational vision tasks, such as trinocular stereo disparity calculations, multiple baseline stereo measurements, multi-frame motion analysis, motion-stereo (binocular or trinocular) techniques, vergence control, and structure from uniform three-dimensional acceleration, involve determination of disparities among multiple frames. The paper introduces a uniform approach to multiframe analysis where equal disparities between multiple frames reinforce one another in time and space. Consequently, in the presence of constant displacements, the increased number of frames leads to an increase in the detection and accuracy of disparity estimation. In the case of unequal separations-for instance due to acceleration-disparities between every two frames are calculated, providing a rate of change in disparities