This paper presents a recursive algorithm to recover the 3D structure and motion of a planar facet moving with arbitrary but constant motion relative to a single camera. By integrating discrete measurements of visual motion over time, the algorithm imposes a coupling between the scene structure and rotational motion otherwise absent in instantaneous motion processing. The algorithm disambiguates between the two possible values of the rotational motion which arise from instantaneous processing, and shows considerable robustness to noise and small camera angles.
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