Robust recovery of motion: effects of surface orientation and fieldof view
Negahdaripour, S.
Yu, C.H.
Dept. of Electr. Eng., Hawaii Univ., Honolulu, HI ;
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): 404-410
Meeting Date: 06/05/1988 - 06/09/1988
Location: Ann Arbor, MI, USA
ISBN: 0-8186-0862-5
References Cited: 7
INSPEC Accession Number: 3258539
Digital Object Identifier: 10.1109/CVPR.1988.196267
Current Version Published: 2002-08-06
Abstract
Recovering, from two-dimensional images, certain three-dimensional
properties of the scene, such as motion and shape of objects in a scene
and their spatial arrangement, is one of the primary goals of a machine
vision system. Given a textured scene motion can be recovered rather
easily if the structure of the scene, usually in the form of a depth map
of the scene, is known. In theory, it is also possible to recover shape
if the relative motion between the viewer and objects in the scene is
known. The authors study the sensitivity of the solution of the first
problem to inaccuracies in the knowledge of the depth map of the scene.
First a brightness change constraint equation, is used give closed-form
solutions for the motion parameters in two cases: known depth, and small
depth variations relative to the absolute distance of the scene from the
viewer. They then investigate the robustness of the solution for the
motion parameters in terms of the scene structure, modeled as piecewise
planar patches. They demonstrate the behavior of the solution with the
variations of the orientation of the surface patch being viewed and the
size of the field of view. Using a quantitative measure, the show the
need for a large field of view to recover motion robustly. The
eigenvalue-eigenvector decomposition of a 6×6 matrix allows the
authors to analyze some well-known ambiguities in recovering
motion
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