Searching for authors named "Yiannis Aloimonos" – sorted by Relevance.
53 documents found, showing 1 through 10.
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Visual Navigation: Flies, Bees, and UGV's
- …avigates using its perceptual sensors must have a number of capabilities that we can roughly separate into local and global ones. Local capabilities enable the system to interact effectively with its immediate surroundings, like understanding its own motion, recognizing obstacles and other moving ob…
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Qualitative Egomotion
- …Due to the aperture problem, the only general unambiguous motion measurement in images is normal flow---the projection of image motion on the gradient direction. In this paper we show how a monocular observer can estimate its 3D motion relative to the scene by using normal flow measurements in a …
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Algorithm-Independent Stability Analysis of Structure from Motion
- …The stability analysis for the structure from motion problem presented in this paper investigates the optimal relationship between the errors in the estimated translational and rotational parameters of a rigid motion that results in the estimation of a minimum number of negative depth values. No par…
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Observability of 3D Motion
- …This paper examines the inherent difficulties in observing 3D rigid motion from image sequences. It does so without considering a particular estimator. Instead, it presents a statistical analysis of all the possible computational models which can be used for estimating 3D motion from an image sequen…
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On The Geometry Of Visual Correspondence
- …Image displacement fields---optical flow fields, stereo disparity fields, normal flow fields---due to rigid motion possess a global geometric structure which is independent of the scene in view. Motion vectors of certain lengths and directions are constrained to lie on the imaging surface at particu…
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Geometry of Eye Design: Biology and Technology
- …Natural or artificial vision systems process the images that they collect with their eyes or cameras in order to derive information for performing tasks related to navigation and recognition. Since the way images are acquired determines how difficult it is to perform a visual task, and since systems…
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What is Computed by Structure from Motion Algorithms?
- …In the literature we find two classes of algorithms which, on the basis of two views of a scene, recover the rigid transformation between the views and subsequently the structure of the scene. The first class contains techniques which require knowledge of the correspondence or the motion field betwe…
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Vision and action
- …Our work on Active Vision has recently focused on the computational modelling of navigational tasks, where our investigations were guided by the idea of approaching vision for behavioral systems in form of modules that are directly related to perceptual tasks. These studies led us to branch in vario…
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Deformation and viewpoint invariant color histograms
- …We develop a theoretical basis for creating color histograms that are invariant under deformation or changes in viewpoint. The gradients in different color channels weight the influence of a pixel on the histogram so as to cancel out the changes induced by deformations. Experiments show these histog…
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A probabilistic notion of correspondence and the epipolar constraint
- …We present a probabilistic framework for correspondence and egomotion. First, we suggest computing probability distributions of correspondence. This has the advantage of being robust to points subject to the aperture effect and repetitive structure, while giving up no information at feature points. …
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