A Common Framework for Kinetic Depth, Reconstruction and Motion for Deformable Objects

. In this paper, problems related to depth, reconstruction and motion from a pair of projective images are studied under weak assumptions. Only relative information within each image is used, nothing about their interrelations or about camera calibration. Objects in the scene may be deformed between the imaging instants, provided that the deformations can be described locally by affine transformations. It is shown how the problems can be treated by a common method, based on a novel interpretation of a theorem in projective geometry of M. Chasles, and the notion of "affine shape". No epipolar geometry is used. The method also enables the computation of the "depth flow", i.e. a relative velocity in the direction of the ray of sight. Keywords: Depth, shape, reconstruction, motion, invariants. 1 Introduction Central problems in computer vision are concerned with reconstruction and recovery of motion from image pairs. A number of algorithms exist, in general based on iterative numerical t..