A Directed Method for Locating the Focus of Expansion.

Abstract

The problem of recovering the motion of a monocular observer relative to a rigid scene is discussed. No assumptions about the shapes of the surfaces in the scene, nor are estimates made of the optical flow or point correspondences. Instead, the spatial gradient and the time rate of change of brightness is exploited over the whole image and the constraint is explicitly imposed that the surface of an object in the scene must be in front of the camera for it to be imaged. Keywords: Focus of expansion; Optical flow; Motion field; Motion correspondence.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 1987
Accession Number
ADA185840

Entities

People

  • Berthold K. Horn
  • Shariar Negahdaripour

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Artificial Intelligence
  • Brightness
  • Computational Science
  • Computer Graphics
  • Computer Vision
  • Coordinate Systems
  • Eigenvalues
  • Eigenvectors
  • Equations
  • Image Processing
  • Information Processing
  • Massachusetts
  • Navigation
  • Probability
  • Three Dimensional
  • Translations

Readers

  • Fluid Dynamics.
  • Image Processing and Computer Vision.
  • Vision Science/Vision Psychology/Cognitive Neuroscience.