The Interpretation of Structure from Motion.
Abstract
The interpretation of structure from motion is examined from a computational point of view. The question addressed is how the 3-D structure and motion of objects can be inferred from the 2-D transformations of their projected images when no 3-D information is conveyed by the individual projections. The following scheme is proposed: (i) divide the image into groups of 4 elements each. (ii) Test each group for a rigid interpretation. (iii) Combine the results obtained in (ii). It is shown that this scheme will correctly decompose scenes containing arbitrary rigid objects in motion, recovering their 3-D structure and motion. The analysis is based primarily on the 'structure from motion' theorem which which states that the structure of 4 non-coplanar points is recoverable from 3 orthographic projections. The interpretation scheme is extended to cover perspective projections, and its psychological relevance is discussed. (Author)
Document Details
- Document Type
- Technical Report
- Publication Date
- Oct 01, 1976
- Accession Number
- ADA062814
Entities
People
- Shimon Ullman
Organizations
- Massachusetts Institute of Technology