1 March 1991 Structure and motion of entire polyhedra
Author Affiliations +
Proceedings Volume 1388, Mobile Robots V; (1991) https://doi.org/10.1117/12.25486
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States
We describe an efficient system for recovering the 3-D motion and structure of entire polyhedra from an evolving image sequence. The suggested technique utilizes the image flow velocities in order to recover the 3-D parameters. We develop a method for estimating the image flow velocities and an algorithm for computing the 3-D parameters given two successive image frames. The solution is then improved by using a large number of image frames and exploiting the temporal coherence of 3-D motion. We use the ordinary differential which describe the parametric evolution in terms of the current motion/structure and the measurements in the image plane. The extended Kalman filter is then used to update the solution. The process is started by segmenting the entire scene into a number of planar surfaces and then applying the above technique to each surface under consideration the probable inconsistencies are then resolved.
© (1991) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Tarek M. Sobh, Tarek M. Sobh, Tarek Khaled Alameldin, Tarek Khaled Alameldin, } "Structure and motion of entire polyhedra", Proc. SPIE 1388, Mobile Robots V, (1 March 1991); doi: 10.1117/12.25486; https://doi.org/10.1117/12.25486


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