Detecting 3-D motion field from range image sequences.

An algorithm for computing three-dimensional (3-D) velocity field and motion parameters from a range image sequence is presented. It is based on a new integral 3-D rigid motion invariant feature-the trace of a 3x3 "feature matrix" related to the moment of inertia tensor. This trace can be computed at every point of a moving surface and provides a quantitative measure of the local shape of the surface. Based on the feature's conservation along the trajectory of every moving point, a 3-D Flow Constraint Equation is formulated and solved for the velocity field. The robustness of the feature in presence of noise and discontinuity is analyzed.