@article {spies2002d,
	title = {Range flow estimation.},
	journal = {Computer Vision and Image Understanding},
	volume = {85},
	number = {3},
	year = {2002},
	pages = {209--231},
	abstract = {We discuss the computation of the instantaneous 3D displacement vector fields of deformable surfaces from sequences of range data. We give a novel version of the basic motion constraint equation that can be evaluated directly on the sensor grid. The various forms of the aperture problem encountered are investigated and the derived constraint solutions are solved in a total least squares (TLS) framework. We propose a regularization scheme to compute dense full flow fields from the sparse TLS solutions. The performance of the algorithm is analyzed quantitatively for both synthetic and real data. Finally we apply the method to compute the 3D motion field of living plant leaves.},
	doi = {10.1006/cviu.2002.0970},
	author = {Hagen Spies and Bernd J{\"a}hne and John L. Barron}
}
@conference {spies2000a,
	title = {Regularised range flow},
	booktitle = {European Conference on Computer Vision (ECCV)},
	volume = {2},
	year = {2000},
	pages = {785--799},
	publisher = {Springer},
	organization = {Springer},
	abstract = {Extending a differential total least squares method for range flow estimation we present an iterative regularisation approach to compute dense range flow fields. We demonstrate how this algorithm can be used to detect motion discontinuities. This can can be used to segment the data into independently moving regions. The different types of aperture problem encountered are discussed. Our regularisation scheme then takes the various types of flow vectors and combines them into a smooth flow field within the previously segmented regions. A quantitative performance analysis is presented on both synthetic and real data. The proposed algorithm is also applied to range data from castor oil plants obtained with the Biris laser range sensor to study the 3-D motion of plant leaves.},
	doi = {10.1007/3-540-45053-X_50},
	author = {Hagen Spies and Bernd J{\"a}hne and John L. Barron},
	editor = {Vernon, D.}
}
