A method of generating a dynamic depth map for a sequence of images from
multiple cameras models a scene as a collection of 3D piecewise planar
surface patches induced by color based image segmentation. This
representation is continuously estimated using an incremental formulation
in which the 3D geometric, motion, and global visibility constraints are
enforced over space and time. The proposed algorithm optimizes a cost
function that incorporates the spatial color consistency constraint and a
smooth scene motion model.
