Binocular estimation of motion and structure from long sequences using optical flow without correspondence

We use the left and right monocular motion and structure parameters of two stereo image sequences (direction of translation, relative depth, observer rotation and rotational acceleration) to compute the absolute depth, absolute translation and absolute translational acceleration for each pair of left and right images. Individual translation parameters computed at each frame are integrated over time using a Kalman filter to provide more accuracy and a “best” estimate of the absolute translation at each time