Acceleration-based structure-from motion

A method is presented for recovering the rotation of a moving object using both velocity and acceleration. Acceleration is a useful form of information to incorporate into a structure-from motion system. It allows the use of clustering algorithms for recovering the motion parameters of a rotating object, which in turn allows the weakening of the spatial continuity constraint to a spatial coherence constraint, together with a temporal continuity constraint. This allows the integration of information over both time and space without limiting assumptions about surface structure