A Method for Estimating Three Dimensional Scene Flow Using Non Calibrated Multiple Cameras

Three dimensional scene flow can be estimated from information of the object’s surface and depth map of the scene based on camera parameters obtained by strong calibration. However, increasing the number of cameras increases labor of the calibration. In this paper, we present a method for estimating three dimensional scene flow using non calibrated multiple cameras. Our approach uses the Projective Grid Space to define virtual three dimensional space, and then the three dimensional scene flow can be estimated by checking consistency of the optical flows computed for each cameras using constaint by the epipolar geometry. Effects of the proposed method are shown by experimental results of simulation and real images.