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Reducing “Structure from Motion”: a general framework for dynamic vision. 2. Implementation and experimental assessment

Soatto, Stefano and Perona, Pietro (1998) Reducing “Structure from Motion”: a general framework for dynamic vision. 2. Implementation and experimental assessment. IEEE Transactions on Pattern Analysis and Machine Intelligence, 20 (9). pp. 943-960. ISSN 0162-8828. http://resolver.caltech.edu/CaltechAUTHORS:SOAieeetpami98b

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Abstract

For pt.1 see ibid., p.933-42 (1998). A number of methods have been proposed in the literature for estimating scene-structure and ego-motion from a sequence of images using dynamical models. Despite the fact that all methods may be derived from a “natural” dynamical model within a unified framework, from an engineering perspective there are a number of trade-offs that lead to different strategies depending upon the applications and the goals one is targeting. We want to characterize and compare the properties of each model such that the engineer may choose the one best suited to the specific application. We analyze the properties of filters derived from each dynamical model under a variety of experimental conditions, assess the accuracy of the estimates, their robustness to measurement noise, sensitivity to initial conditions and visual angle, effects of the bas-relief ambiguity and occlusions, dependence upon the number of image measurements and their sampling rate.


Item Type:Article
Additional Information:© Copyright 1998 IEEE. Reprinted with permission. Manuscript received 18 Dec. 1995; revised 20 Mar. 1998. Recommended for acceptance by L. Shapiro.
Subject Keywords:Computer vision, structure from motion (SFM), shape estimation, recursive filter, nonlinear implicit extended Kalman filter
Record Number:CaltechAUTHORS:SOAieeetpami98b
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:SOAieeetpami98b
Alternative URL:http://dx.doi.org/10.1109/34.713361
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:6500
Collection:CaltechAUTHORS
Deposited By: Archive Administrator
Deposited On:11 Dec 2006
Last Modified:26 Dec 2012 09:21

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