The Incremental Rigidity Scheme for Recovering Structure from Motion: Position versus Velocity Based Formulations

Abstract

Perceptual studies suggest that the visual system uses the rigidity assumption to recover three dimensional structure from motion. Ullman (1984) recently proposed a computational scheme, the incremental rigidity scheme, which uses the rigidity assumption to recover the structure of rigid and nonrigid objects in motion. The scheme assumes the input to be discrete positions of elements in motion, under orthographic projection. We present formulations of Ullman's method that use velocity information and perspective projection in the recovery of structure. Theoretical and computer analyses show that he velocity based formulations provide a rough estimate of structure quickly, but are not robust over an extended time period. The stable long term recovery of structure requires disparate views of moving objects. Our analysis raises interesting questions regarding the recovery of structure from motion in the human visual system. Keywords: Space perception.

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Document Details

Document Type
Technical Report
Publication Date
Oct 01, 1985
Accession Number
ADA196214

Entities

People

  • Ellen C. Hildreth
  • Norberto M. Grzywacz

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • C4I
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Intelligence
  • Computational Science
  • Computer Simulations
  • Computers
  • Coordinate Systems
  • Differential Equations
  • Equations
  • Image Processing
  • Information Processing
  • Linear Differential Equations
  • New York
  • Perception
  • Simulations
  • Three Dimensional
  • Two Dimensional
  • Visual Perception

Readers

  • Computer Vision.
  • Control Systems Engineering.

Technology Areas

  • Space