Generalizing epipolar-plane image analysis on the spatiotemporalsurface
Baker, H.H.
Bolles, R.C.
SRI Int., Menlo Park, CA;
This paper appears in: Computer Vision and Pattern Recognition, 1988. Proceedings CVPR '88., Computer Society Conference on
Publication Date: 5-9 Jun 1988
On page(s): 2-9
Meeting Date: 06/05/1988 - 06/09/1988
Location: Ann Arbor, MI, USA
ISBN: 0-8186-0862-5
References Cited: 15
INSPEC Accession Number: 3258497
Digital Object Identifier: 10.1109/CVPR.1988.196209
Current Version Published: 2002-08-06
Abstract
The previous implementations of the authors' epipolar-plane
image-analysis mapping technique demonstrated the feasibility and
benefits of the approach, but were carried out for restricted camera
geometries. The question of more general geometries made the technique's
utility for autonomous navigation uncertain. The authors have developed
a generalization of the analysis that: (1) enables varying view
direction, including varying over time; (2) provides three-dimensional
connectivity information for building coherent spatial descriptions of
observed objects; and (3) operates sequentially, allowing initiation and
refinement of scene feature estimates while the sensor is in motion. To
implement this generalization it was necessary to develop an explicit
description of the evolution of images over time. They achieved this by
building a process that creates a set of two-dimensional manifolds
defined at the zeros of a three-dimensional spatiotemporal Laplacian.
These manifolds represent explicitly both the spatial and temporal
structure of the temporally evolving imagery and are termed
spatiotemporal surfaces
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