Soatto, Stefano and Perona, Pietro (1995) Motion from "X" by Compensating "Y". California Institute of Technology , Pasadena, CA. (Unpublished) http://resolver.caltech.edu/CaltechCDSTR:1995.009
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This paper analyzes the geometry of the visual motion estimation problem in relation to transformations of the input (images) that stabilize particular output functions such as the motion of a point, a line and a plane in the image. By casting the problem within the popular "epipolar geometry", we provide a common framework for including constraints such as point, line of plane fixation by just considering "slices" of the parameter manifold. The models we provide can be used for estimating motion from a batch using the preferred optimization techniques, or for defining dynamic filters that estimate motion from a causal sequence. We discuss methods for performing the necessary compensation by either controlling the support of the camera or by pre-processing the images. The compensation algorithms may be used also for recursively fitting a plane in 3-D both from point-features or directly from brightness. Conversely, they may be used for estimating motion relative to the plane independent of its parameters.
|Item Type:||Report or Paper (Technical Report)|
|Additional Information:||Research sponsored by NSF NYI Award, NSF ERC in Neuromorphic Systems Engineering at Caltech, ONR grant N00014-93-1-0990. This work is registered as CDS technical report no. CIT-CDS 95-009, March 1995.|
|Group:||Control and Dynamical Systems Technical Reports|
|Subject Keywords:||Motion and structure estimation, essential manifold, motion decoupling, motion compensation, fixation, plane plus parallax, plane fitting, direct methods, real-time motion estimation|
|Usage Policy:||You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.|
|Deposited By:||Imported from CaltechCDSTR|
|Deposited On:||19 Sep 2006|
|Last Modified:||26 Dec 2012 14:30|
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