In this paper, we propose a robust motion estimation
algorithm using uncalibrated 3D motion model considering
depth discontinuity. Direct motion estimation imposes an
explicit global motion model, thus it gives better
performance in homogeneous region compared to the local
motion estimation method. Most of previous direct motion
estimation algorithms with 3D motion model compute the
depth value through the local smoothing, which result in
erroneous results at depth discontinuity. In this paper, we
consider discontinuity by adding discontinuity preserving
regularization term to the original equation. Also we
employ robust estimation, thus we can directly extend to
motion segmentation through the dominant camera motion
compensation. Experimental results show the improved
result at depth discontinuity.