This paper presents a new, robust and massively parallel algorithm for determining three-dimensional structure of a scene. It is based on analyzing the images that result from a straight line camera motion. In order to simplify the computations, we use spherical angles to represent pixels in the image (in place of x-y). In this frame every moving point in the image can be easily processed independently of any other point. We show how to reconstruct 31) geometry by an integration operation (no differentiation operator is involved). Preliminary results for the case where the optical axis is parallel to the motion axis show an accuracy less than 0.6% in absolute distance.
"Parallel Algorithm for 3D Surface Reconstruction", Proc. SPIE 1192, Intelligent Robots and Computer Vision VIII: Algorithms and Techniques, (1 March 1990); doi: 10.1117/12.969741; https://doi.org/10.1117/12.969741