All videos have been encoded with the DivX codec
which can be downloaded from www.divx.com.


rotation-entropy.avi
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This video demonstrates the identification of
sweeping directions by minimum entropy histograms.
The image in the top left is the original view overlaid
with the projections of the 3D points reconstructed from
structure from motion.  The frame on the right shows the
points projected in the direction of gravity.  All
rotations between 0 and 90 degrees are considered.  The
histograms of the u and v component of the points are
displayed on the sides of the frame.  The sum of the
entropies of the histograms is plotted at the bottom
left.  The minimum entropy rotation is recovered
correctly at 46 degrees.


scene1.avi
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This is a fly-through of the scene from figure 8.
The depthmap was computed from 11 512x384 grayscale
frames of video.  The vertical vanishing point was
recovered from the image, and the ground and facade
normals were recovered with our method.  94 plane
hypotheses are tested in each direction.


scene2.avi
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This is a fly-through of another scene reconstructed
using only the 48 plane hypotheses with highest prior
probability.  The video was captured by two cameras
to provide a larger field of view.  737 frames were
processed from both video streams in 73 seconds.  Our
algorithm produces a quality reconstruction at a processing
rate of 20.0 Hz.