Using multiple-hypothesis disparity maps and image velocity for 3-D motion estimation

In this paper we explore a multiple hypothesis approach to estimating rigid motion from a moving stereo rig. More precisely, we introduce the use of Gaussian mixtures to model correspondence uncertainties for disparity and velocity (optical flow) estimation. We show some properties of the disparity space and show how rigid transformations can be represented. An algorithm derived from standard random sampling-based robust estimators, that efficiently estimates rigid transformations from multi-hypothesis disparity maps and velocity fields is given