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17 January 1985 Dynamic Stereo From Multiple Image Flows
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Proceedings Volume 0521, Intelligent Robots and Computer Vision; (1985)
Event: 1984 Cambridge Symposium, 1984, Cambridge, United States
A new concept in passive ranging to moving objects is described which is based on the comparison of multiple image flows. It is well known that if a static scene is viewed by an observer undergoing a known relative translation through space, then the distance to objects in the scene can be easily obtained from the measured image velocities associated with features on the objects (i.e. motion stereo). But in general, individual objects are translating and rotating at unknown rates with respect to a moving observer whose own motion may not be accurately monitored. The net effect is a complicated image flow field in which absolute range information is lost. However, if a second image flow field is produced by a camera whose motion through space differs from that of the first camera by a known amount, the range information can be recovered by subtracting the first image flow from the second. This "difference flow" must then be corrected for the known relative rotation between the two cameras, resulting in a divergent relative flow from a known focus of expansion. This passive ranging process may be termed Dynamic Stereo, the known difference in camera motions playing the role of the stereo baseline. We present the basic theory of this ranging process, along with some examples for simulated scenes. Potentiat applications are in autonomous vehicle navigation (with one fixed and one movable camera mounted on the vehicle), coordinated motions between two vehicles (each carrying one fixed camera) for passive ranging to moving targets, and in industrial robotics (with two cameras mounted on different parts of a robot arm) for intercepting moving workpieces.
© (1985) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Allen M. Waxman and Sarvajit S. Sinha "Dynamic Stereo From Multiple Image Flows", Proc. SPIE 0521, Intelligent Robots and Computer Vision, (17 January 1985);


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