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Abstract

A method for feature tracking across a plurality of related image frames by developing a dense array of features and their paths as a deformable, regularly spaced grid, with vectors for each nodal feature point in the grid being derived through a process related to optical flow. The resulting dense feature array can be applied to techniques such as tracking two-dimensional shapes across frames, estimating three-dimensional paths of selected feature points, estimating three-dimensional camera paths from multiple feature points, or recovering estimated three-dimensional scene structure (including estimated depths of object surfaces) from feature tracking data.

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