Motion from Fixation
Abstract
We study the problem of estimating rigid motion from a sequence of monocular perspective images obtained by navigating around an object while fixating a particular feature point. The motivation comes from the mechanics of the human eye, which either pursuits smoothly some fixation point in the scene, or "saccades" between different fixation points. In particular, we are interested in understanding whether fixation helps the process of estimating motion in the sense that it makes it more robust, better conditioned or simpler to solve. We cast the problem in the framework of "dynamic epipolar geometry", and propose an implicit dynamical model for recursively estimating motion from fixation. This allows us to compare directly the quality of the estimates of motion obtained by imposing the fixation constraint, or by assuming a general rigid motion, simply by changing the geometry of the parameter space while maintaining the same structure of the recursive estimator. We also present a closed-form static solution from two views, and a recursive estimator of the absolute attitude between the viewer and the scene.
Document Details
- Document Type
- Technical Report
- Publication Date
- Feb 01, 1995
- Accession Number
- ADA462343
Entities
People
- Pietro Perona
- Stefano Soatto
Organizations
- California Institute of Technology