直接运动立体被动导航

Proceedings 1992 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Pub Date : 1992-06-15 DOI:10.1109/CVPR.1992.223155

S. Negahdaripour, B. Hayashi, Y. Aloimonos

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引用次数: 21

摘要

研究了头眼系统从立体图像序列中恢复运动的问题。考虑了两种类型的运动，即车辆的平移和头部的平移运动。它显示了如何这些运动和深度图可以直接估计从测量图像梯度和时间导数。不需要估计图像运动，随时间跟踪场景特征，或在立体图像对中建立点对应。给出了各种真实场景的实验结果。

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Direct motion stereo for passive navigation

The problem of motion recovery for a head-eye system from stereo image sequences is addressed. Two types of motions, the translation of the vehicle and the panning motion of the head, are considered. It is shown how these motions and the depth map can be estimated directly from the measurements of image gradients and time derivatives. There is no need to estimate image motion, track a scene feature over time, or establish point correspondences in a stereo image pair. The results of various experiments with real scenes are presented.<>

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Proceedings 1992 IEEE Computer Society Conference on Computer Vision and Pattern Recognition

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