Use of Optical Flow Fields in Establishing Stereo Correspondence: Progress Report, September 1987-April 1988.

摘要

During the period from September 1987 to April 1988 extensive theoretical work and preliminary experimental work have been performed to analyze stereo image sequences in which there is relative translational motion between the cameras and the objects in the field of view. In this theory, the velocities and positions of features in the image sequences are used as input to determine the relative translational velocities, the correspondence between features in the left and right images, and, from this correspondence, the range to the features in question. If the features in each image are points, the total velocity of each feature is easily measured by a number of existing techniques. If the features are contours only the component of the velocity in the direction normal to the contour can be measured. However, if in a small region of an image, the flow originates from moving contours on a single surface and the contours are sufficiently curved, then the velocities from the normal flow can be fitted statistically to a second order polynomial and the full optical flow can be obtained. In the present work, separate theories have been developed that start with the full optical flow and the normal flow and then compute the translational velocity and the range to the features. In the interest of brevity, only a summary of the method starting with the full optical flow is presented in this paper. 3 figs., 2 tabs. (ERA citation 14:012471)