1 July 1995 Recovering three-dimensional velocity and establishing stereo correspondence from binocular image flows
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Optical flow fields from parallel stereo cameras are analyzed to determine the 3-D motion of the camera platform with respect to objects in view and to establish stereo correspondence. A linear system of equations, whose coefficients consist of the moments of image velocities and coordinates in the stereo images, is solved to recover the 3-D motion components. This system of equations is derived under the assumption that all feature points have stereo matches (points without stereo matches are called drop-ins and drop-outs); however, point-to-point stereo correspondences are not required. No assumptions about the 3-D structure of the scene are made. Once the 3-D motion components are computed, stereo correspondence for a pair of potentially matching points is established by comparing three computed depth values: Zl obtained from the monocular optical flow equations for the left image; Zr, obtained from the same equations for the right image; and Zs, obtained from stereo disparity. For correct matches these three depths must be nearly equal. The method is applied to numerically generated and laboratory image sequences with and without drop-ins and dropouts. In cases where the percentage of drop-ins and drop-outs is large, an iterative scheme is used to detect and eliminate the drop-ins and drop-outs, thus improving the motion estimates.
James H. Duncan, James H. Duncan, Lingxiao Li, Lingxiao Li, Wendong Wang, Wendong Wang, } "Recovering three-dimensional velocity and establishing stereo correspondence from binocular image flows," Optical Engineering 34(7), (1 July 1995). https://doi.org/10.1117/12.206584 . Submission:

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