Recovering motion parameters from a 2D range image sequence

This paper addresses the problem of extracting information from a 2D range image sequence. We introduce the new concept of range image flow to refer the velocity field that arises in a range image when a range sensor moves relative to the environment. This velocity field indicates the angular motion of each scanned point onto the retina. We derive a formulation that allows one to recover the motion parameters along with the range image flow field which could be used, for example, to detect and track moving objects. Experimental results are presented, showing that good results are achieved with both real and synthetic images