Determining the 3-D Motion of a Rigid Surface Patch without Correspondence, under Pedrspective Projection. 1. Planar Surfaces. 2. Curved Surfaces

摘要

A method is presented for the recovery of the 3D motion parameters of a rigidly moving textured surface. The novelty of the method is based on the following two facts: 1) no point-to-point correspondences are used, and 2) 'stereo' and 'motion' are combined in such a way that no correspondence between the left and the right stereo pairs is required. An important problem in Computer Vision is to recover the 3-D motion of a moving object form its successive images. Dynamic visual information can be produced by a sensor moving through the environment and/or by independently moving objects in the observer's visual field. The interpretation of such dynamic imagery information information consists of dynamics segmentation, recovery of the 3-D motion (of the sensor and the objects in the environment) as well as determination of the structure of the environmental world. The results of such an interpretation can be used to control behavior as for example in robotics, tracking, and autonomous navigation.