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Summary: Qualitative Detection of 3D Motion Discontinuities
Antonis A. Argyros, Manolis I.A. Lourakis, Panos E. Trahanias and Stelios C. Orphanoudakis
Institute of Computer Science
Foundation for Research and Technology - Hellas
PO Box 1385, Heraklion, Crete 711-10, Greece
and
Department of Computer Science
University of Crete
PO Box 1470, Heraklion, Crete 714-09, Greece
Abstract
This paper presents a method for the detection of
objects that move independently of the observer in a
3D dynamic scene. Independent motion detection is
achieved through processing of stereoscopic image se-
quences acquired by a binocular, rigidly moving ob-
server. A weak assumption is made about the ob-
server's motion (egomotion), namely that the direc-
tion of the translational and rotational components of
egomotion are constant in small image patches. This
assumption facilitates the extraction of qualitative in-
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