DYNAMIC DEPTH RECOVERY FROM MULTIPLE SYNCHRONIZED VIDEO STREAMS

A method of generating a dynamic depth map for a sequence of images from multiple cameras models a scene as a collection of 3D piecewise planar surface patches induced by color based image segmentation. This representation is continuously estimated using an incremental formulation in which the 3D geometric, motion, and global visibility constraints are enforced over space and time. The proposed algorithm optimizes a cost function that incorporates the spatial color consistency constraint and a smooth scene motion model.