Model for Shape and Motion Perception
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Authors
Sobh, Tarek M.
Issue Date
1991-11
Type
Article
Language
en_US
Keywords
Engineering , 3-D model , Imaging , Algorithm
Alternative Title
Abstract
In this paper we describe an efficient system for recovering the 3-D motion and structure of visual systems from an evolving image sequence. The technique utilizes the image flow velocities in order to recover the 3-D parameters. We develop a real-time algorithm for recovering the 2-D flow vectors on the image plane with sub-pixel accuracy. The flow estimates are then examined for the possibilities for errors, mistakes and uncertainties in the visual system. Uncertainty models are developed for the sensor and for the image processing techniques being used. Further filtering and a rejection mechanism are then developed to discard unrealistic flow estimates. The 2-D flow models are then converted into 3-D uncertainty models for motion and structure. We further develop an algorithm which iteratively improves the 3-D solution given two successive image frames and then discuss a multi-frame algorithm that improves the solution progressively by using a large number of image frames.
Description
Copyright 1992 Society of Photo-Optical Instrumentation Engineers. One print or electronic copy may be made for personal use only. Systematic reproduction and distribution, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited.
Citation
Tarek M. Sobh, "Model for shape and motion perception", Proc. SPIE 1613, Mobile Robots VI, 190 (February 14, 1992); doi:10.1117/12.135184
Publisher
SPIE