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The motion of the camera is represented by a constant velocity model. Salient points in the image sequence are extracted using Gabor wavelets and tracked using labeled graph matching. The 3\u2010D positions of the selected environmental points relative to the camera are then estimated recursively using an extended Kalman filter (EKF), after initialization by two\u2010frame motion stereo. The motion parameters of the camera are also refined simultaneously. Experimental results on real data are given. \u00a9 1992 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620090604","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:14:33Z","timestamp":1183727673000},"page":"729-752","source":"Crossref","is-referenced-by-count":9,"title":["Passive ranging using a moving camera"],"prefix":"10.1002","volume":"9","author":[{"given":"Chandra","family":"Shekhar","sequence":"first","affiliation":[]},{"given":"Rama","family":"Chellappa","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/0734-189X(83)90097-X"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.1985.4767678"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1016\/0004-3702(84)90018-3"},{"key":"e_1_2_1_5_2","unstructured":"G. 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