Stereo and Optical Flow Calculation Using Recursive Filter

In this paper, we suggest the relationship, called disparity-optical flow equation, between the two vision quantities: stereo disparity and optical flow, and a recursive filter, as an efficient algorithm. It is shown that, in a general setting, there exist close spatial and temporal relationships between the two quantities. The importance of this discovery is that the vision quantities can be computed simultaneously, on the image level, unlike the previous approaches that tried to determine the two quantities separately. The differences of these methods are apparent when the depths are recovered.