3-D translational motion and structure from binocular image flows
Li, L.
Duncan, J.H.
Maryland Univ., College Park, MD;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: Jul 1993
Volume: 15,
Issue: 7
On page(s): 657-667
ISSN: 0162-8828
References Cited: 19
CODEN: ITPIDJ
INSPEC Accession Number: 4465233
Digital Object Identifier: 10.1109/34.221167
Current Version Published: 2002-08-06
Abstract
Image flow fields from parallel stereo cameras are analyzed to
determine the relative 3-D translational motion of the camera platform
with respect to objects in view and to establish stereo correspondence
of features in the left and right images. A two-step procedure is
suggested. In the first step, translational motion parameters are
determined from linear equations the coefficients of which consist of
the sums of measured quantities in the two images. Separate equations
are developed for cases when measurements of either the full optical
flow or the normal flow are available. This computation does not require
feature-to-feature correspondence. In addition, no assumption is made
about the surfaces being viewed. In the second step of the calculation,
with the knowledge of the estimated translational motion parameters, the
binocular flow information is used to find features in one image that
correspond to given features in the other image. Experimental results
with synthetic and laboratory images indicate that the method provides
accurate results even in the presence of noise
Index
Terms
Available to subscribers and IEEE members.
References
Available to subscribers and IEEE members.
Citing Documents
Available to subscribers and IEEE members.
Cart
