Robust computation of image-motion and scene-depth

A new framework is described for computing image flow from time-varying imagery and recovering scene-depth from image flow. In this framework, image flow information available in the time-varying imagery is classified into two categories-conservation information and neighborhood information. Each type of information is recovered in the form of an estimate accompanied by a covariance matrix. Image flow is then computed, along with confidence measures, by fusing the two estimates on the basis of their covariance matrices. Dense depth-maps are computed from image flow using Kalman filtering