1 July 1998 Direct method to obtain straight edge depth from motion
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We develop a method to estimate the 3-D location of straight edges captured from a mobile camera. The location uncertainty is also computed. A new direct formulation is presented that avoids both full optical flow and correspondence computations. The algorithm uses image regions that support straight edges and can be applied to small, known camera motions. When the image disparity is small, coherent depth results are obtained in a way more efficient than with a correspondence-based approach.
Jose J. Guerrero Campo, Carlos Sagues, "Direct method to obtain straight edge depth from motion," Optical Engineering 37(7), (1 July 1998). https://doi.org/10.1117/1.601797

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