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Binocular Estimation Of Motion And Structure From Long Sequences Using Optical Flow Without Correspondence
 In Proc. ICIP
, 1995
"... We use the left and right monocular motion and structure parameters of two stereo image sequences (direction of translation, relative depth, observer rotation and rotational acceleration) to compute absolute depth, absolute translation and absolute translational acceleration for each pair of left an ..."
Abstract

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We use the left and right monocular motion and structure parameters of two stereo image sequences (direction of translation, relative depth, observer rotation and rotational acceleration) to compute absolute depth, absolute translation and absolute translational acceleration for each pair of left and right images. Individual translation parameters computed at each frame are integrated over time using a Kalman filter to provide more accuracy and a "best" estimate of absolute translation at each time. 1. INTRODUCTION Recently, we described a monocular motion and structure algorithm that computes the observer's heading, u; rotation, ~!; rotational acceleration, ffi ~ !; and a relativedepth map (the ratio of translational speed and 3D depth ¯ at each pixel in the image) by solving simple linear systems of equations [1, 2]. These parameters are computed in a cameracentered coordinate system using adjacent 3tuples of flow fields from a long monocular flow sequence and are then integra...