Direct Recovery of Motion and Shape in the General Case by Fixation
Abstract
In motion vision, the problem is to find, from a sequence of time varying images, the relative rotational and translational velocities between a viewer and an environment as well as the shape of objects in the environment. This paper introduces a direct method called fixation for solving the general motion vision problem. This method results in a constraint equation between translational and rotational velocities that in combination with the brightness- change constraint equation solves the general motion vision problem, arbitrary motion with respect to an arbitrary rigid environment. Avoiding correspondence and optical flow has been the motive behind the direct methods because both solving the correspondence problem and computing the optical flow reliably have proven to be rather difficult and computationally expensive. Recent direct motion vision methods, which directly use the image brightness information such as temporal and spatial brightness gradients directly, have used the brightness- change constraint equation for solving the motion vision problem in special cases such as known depth, pure translation or known rotation, pure rotation, planar world and quadratic patches. In contrast to these solutions, our fixation method does not put such severe restrictions on the motion or the environment.
Document Details
- Document Type
- Technical Report
- Publication Date
- Mar 01, 1990
- Accession Number
- ADA225793
Entities
People
- M. A. Taalebinezhaad
Organizations
- Massachusetts Institute of Technology