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In this article, we describe some of the algorithms for depth and motion analysis which have been developed within ESPRIT project 940. Specifically we discuss edge detection, token tracking in sequences of images, and trinocular stereo. These processes have been implemented in hardware to form the core of the Depth and Motion Analysis (DMA) machine which has been developed to provide sophisticated real time vision capabilities for a large variety of robotics tasks.
Faugeras et al. (1992) studied this question.