1. A method for extracting motion and structure from a sequence of images stored on a computer system, the method comprising: obtaining images including a set of three-dimensional (3D) points over a plurality of frames; determining an instantaneous motion of the set of 3D points by an angular velocity and a translation with respect to an axis of rotation; computing an optical flow using the instantaneous motion of the set of 3D points based on a projection of velocity of the set of 3D points; computing a depth of the set of 3D points from the optical flow; and determining an epipolar line in the images using the optical flow.