A framework is presented for segmenting shallow structures from their background over a sequence of images. Shallowness is first quantified as affine describability. This is embedded in a tracking system within which hypothesized model structures undergo a cycle of prediction and model-matching. Structures emerge either as shallow or non-shallow based on their affine trackability. This paper rejects continuity heuristics for purely image motion in favor of temporal continuity defined as the consistency of generic 3-D models, namely shallow structures. >
['Harpreet S. Sawhney', 'Allen R. Hanson']
Identification and 3D description of 'shallow' environmental structure in a sequence of images