Browse Prior Art Database

AXIAL MOTION STEREO

IP.com Disclosure Number: IPCOM000128472D
Original Publication Date: 1984-Jan-01
Included in the Prior Art Database: 2005-Sep-16
Document File: 8 page(s) / 38K

Publishing Venue

Software Patent Institute

Related People

O'Brien, Nancy: AUTHOR [+4]

Abstract

This paper presents a new stereo approach. Two or more images of a scene containing stationary objects may be obtained by moving a camera by a known distance along its optical axis. It is shown that the displacement of a point in the Ego-motion Complex Logarithmic Space depends only on its depth. This fact can be exploited to obtain depth of stationary surfaces. It was shown earlier that Ego-motion Polar Mapping allows easy segmentation of a dynamic scene. Thus, the approach of this paper, will allow depth recovery as a by-product in a dynamic scene analysis system. In this paper we present the mapping and demonstrate the feasibility of the proposed approach for recovering the depth.

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THIS DOCUMENT IS AN APPROXIMATE REPRESENTATION OF THE ORIGINAL.

AXIAL MOTION STEREO

Nancy O'Brien and Ramesh Jain

CRL-TR-11-84

THE UNIVERSITY OF MICHIGAN COMPUTING RESEARCH LABORATORY1

JANUARY 1984

Room 1079, East Engineering Building

Ann Arbor, Michigan 48109
USA
Tel: (313) 763-8000

Axial Motion Stereo2 Nancy O'Brien and Ramesh Jain3 2. Electrical and Computer Engineering The University of Michigan
Ann Arbor, MI 48109

Abstract

This paper presents a new stereo approach. Two or more images of a scene containing stationary objects may be obtained by moving a camera by a known distance along its optical axis. It is shown that the displacement of a point in the Ego-motion Complex Logarithmic Space depends only on its depth. This fact can be exploited to obtain depth of stationary surfaces. It was shown earlier that Ego-motion Polar Mapping allows easy segmentation of a dynamic scene. Thus, the approach of this paper, will allow depth recovery as a by-product in a dynamic scene analysis system. In this paper we present the mapping and demonstrate the feasibility of the proposed approach for recovering the depth.

Index Terms: Stereo, Axial Motion Stereo, Complex Log Mapping, Ego-motion Complex Log Mapping, Focus of Expansion.

1. Introduction

Several approaches have been proposed for recovering 3-D information about a scene 4.

Passive methods, based on multiple images of a scene taken from different viewpoints, have remained popular due to their ability to recover the information in an unconstrained environment. The most popular and also the most obvious of these methods is the use of common stereo. Two or more images of a scene are obtained from known viewpoints at the same time instant, and the depth of the point is calculated using triangulation. It is also possible to obtain these images at different time instant using one camera. Nevatia 5 used motion stereo

1 This work was supported by the National Science Foundation, under the Grant No. MCS-8219739. Any opinions, findings, and conclusions or recommendations expressed in this publication are those of the authors and do no necessarily reflect the viewers of the funding agency.

2 This work was supported by National Science Foundation under the grant no. MCS-8219739.

3 Mail all correspondence to this author.

4 Ballard, D.H. and C. M. Brown, Computer Vision, Prentice Hall, 1982.

5 Nevatia, R., "Depth Measurement by Motion Stereo", CVGIP, Vol. 9, pp. 203 - 214, 1976.

University of Michigan Computing Research Laboratory Page 1 Jan 01, 1984

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AXIAL MOTION STEREO

to solve the correspondence problem. Bridwell and Huang 6 proposed the use of lateral motion stereo to obtain 3-D information by moving the camera parallel to the image plane.

Schwartz 7 argued that the retino-striate mapping can be approximated using a Complex Logarithmic Mapping (CLM). He showed that this mapping is responsible for the scale, rotation and projection invariances in the human visual system. His claims ar...