Direct perception of three-dimensional motion from patterns of visual motion

Science

Volumn 270, Issue 5244, 1995, Pages 1973-1976

  Fermüller, Cornelia ^a   Aloimonos, Yiannis ^a  

^a UNIVERSITY OF MARYLAND   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER; MOVEMENT PERCEPTION; PRIORITY JOURNAL; RETINA; SHORT SURVEY; THEORY; THREE DIMENSIONAL IMAGING; VISUAL DISCRIMINATION;

EID: 0029549518     PISSN: 00368075     EISSN: None     Source Type: Journal    
DOI: 10.1126/science.270.5244.1973     Document Type: Short Survey

References (32)

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3. Computer vision researchers usually refer to egomotion estimation as the problem of recovering FOE and the exact rotation. However, the sign of the flow fields used here allows for the computation of the rotation only up to a constant multiplication factor; that is, only AOR can be derived.
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5. The particular structure of the positive and negative vectors in the "don't know" area (19) makes it possible to localize the patterns very efficiently by searching only a small part of the image and using standard computational techniques.
6. The accuracy of the localization of FOE and AOR also depends on the structure of the scene in view. In an analysis of the relation between 3D rigid motion and complete directional motion fields (20), it was found that theoretically there is almost always enough information in the direction of motion fields to recover 3D motion uniquely. Ambiguity can occur only for surfaces in view that lie in a particular area bounded by surfaces of a second and third order.
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10. The ground truth was derived from inertial sensor data and from a photogrammetric numerical solution (9, 11) that used manual correspondences of image features.
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29. C. Fermüller, in Active Perception, Y. Aloimonos, Ed. (Erlbaum, Hillsdale, NJ, 1993), pp. 103-150; and Y. Aloimonos, in Visual Navigation: From Biological Systems to Unmanned Ground Vehicles, Y. Aloimonos, Ed. (Erlbaum, Hillsdale, NJ, in press).
30. C. Fermüller, in Active Perception, Y. Aloimonos, Ed. (Erlbaum, Hillsdale, NJ, 1993), pp. 103-150; and Y. Aloimonos, in Visual Navigation: From Biological Systems to Unmanned Ground Vehicles, Y. Aloimonos, Ed. (Erlbaum, Hillsdale, NJ, in press).
31. T. Brodsky, C. Fermüller, Y. Aloimonos, Tech. Rep. CAR-TR-780 (Center for Automation Research. University of Maryland, 1995).
32. Supported by Advanced Research Projects Agency grant DAA H04-93-G-0419, Office of Naval Research grant N00014-93-1-0257, and NSF grant IRI-9057934 (under a Presidential Young Investigator Award).