Curved contours and surface reconstruction

The observation of curved contours in image sequences is used in egomotion estimation and in surface reconstruction. An egomotion technique that can be applied when no point or straight line correspondences are available is presented. It generalizes egomotion to the case of arbitrarily shaped contours, which is especially valuable in the case of nonpolyhedral objects. The computation uses a very simple finite differences scheme and quickly provides a good estimation of the motion parameters. Experiments conducted on synthetic and real data show the validity of the approach