By Topic

Estimation of 3D motion from stereo images-uncertainty analysis and experimental results

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Goncalves, N. ; Dept. of Electr. & Comput. Eng., Coimbra Univ., Portugal ; Araujo, H.

This paper analyses the problem of motion estimation from a sequence of stereo images. Both the differential and discrete approaches of two methods are formulated The differential approach uses differential optical flow whereas the discrete approaches uses feature correspondences. Both methods are used to compute, first, the 3D velocity in the depth (Z) direction and, second, the complete rigid motion parameters. Furthermore, the uncertainty propagation models for both methods and approaches are derived These models are analysed in order to point out the critical variables for the methods. The methods were extensively tested using synthetic images as well as real images and several conclusions are drawn from the results. The real images are used without any illumination control of the scene in order to study the behavior of the methods in strongly noisy environments with low resolution depth maps.

Published in:

Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on  (Volume:1 )

Date of Conference: