Obtaining Range from Visual Motion Using Local Image Derivatives.
Abstract
In many robotic and remote operation applications, depth (or range) information at various points in the scene is required. These include autonomous navigation, landing site selection, scene reconstruction, or postprocessing interpretation of video footage. Theoretically, depth, motion, and optical flow (generated by the relative movement between the camera and scene) are three parameters of a circular problem: Given the camera motion and three-dimensional structure of the scene, we can generate the optical flow, and hence construct a sequence of images of the moving scene (3-D simulation). Given knowledge of the three-dimensional scene and the optical flow, we can compute the motion which generated it (motion recovery). And finally, given the camera motion and the resulting optical flow, we can extract depth information and reconstruct the three-dimensional scene that gave rise to the flow (scene reconstruction).
Document Details
- Document Type
- Technical Report
- Publication Date
- Jul 01, 1996
- Accession Number
- ADA313098
Entities
People
- Hoa G. Nguyen
Organizations
- Naval Command, Control and Ocean Surveillance Center