Motion estimation using the differential epipolar equation

We consider the motion estimation problem in the case of very closely spaced views. We revisit the differential epipolar equation providing an interpretation of it. On the basis of this interpretation we introduce a cost function to estimate the parameters of the differential epipolar equation, which enables us to compute the camera extrinsics and some intrinsics. In the synthetic tests performed we compare this continuous method with traditional discrete motion estimation and, contrary to previous findings by Vieville et al. (1996), show that the continuous method did not perceive any computational advantage