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This paper describes a new image-based approach to tracking the 6 degrees of freedom trajectory of a stereo camera pair using a corresponding reference image pair whilst simultaneously determining pixel matching between consecutive images in a sequence. A dense minimisation approach is employed which directly uses all grey-scale information available within the stereo pair (or stereo region) leading to very robust and precise results. Metric 3d structure constraints are imposed by consistentlydoi:10.1177/0278364909356601 fatcat:s5uhb7524ndnflr7rxawz7vov4