| | |
Summary: FORTH-ICS / TR-206 August 1997
Independent 3D Motion Detection Using Residual
Parallax Normal Flow Fields y
Manolis I. A. Lourakis, Antonis A. Argyros and
Stelios C. Orphanoudakis
ABSTRACT: This paper considers a specific problem of visual perception of motion,
namely the problem of visual detection of independent 3D motion. Most of the
existing techniques for solving this problem rely on restrictive assumptions about
the environment, the observer's motion, or both. Moreover, they are based on the
computation of a dense optical flow field, which amounts to solving the ill-posed
correspondence problem. In this work, independent motion detection is formulated
as a problem of robust parameter estimation applied to the visual input acquired by a
rigidly moving observer. The proposed method automatically selects a planar surface
in the scene and the residual planar parallax normal flow field with respect to the
motion of this surface is computed at two successive time instants. The two resulting
normal flow fields are then combined in a linear model. The parameters of this model
are related to the parameters of self-motion (egomotion) and their robust estimation
leads to a segmentation of the scene based on 3D motion. The method avoids a
complete solution to the correspondence problem by selectively matching subsets of
image points and by employing normal flow fields. Experimental results demonstrate
|
