Determining the Kinematic Parameters of a Moving Imaging Sensor by Processing Spatial and Temporal Intensity Changes

摘要

A method for extracting information from optical flow is proposed. The approach derives algorithms analytically from the way in which events in the environment affect the image. The method determines the kinematic quantities of a moving observer without computing the optical flow directly. It combines spatial and temporal derivatives of intensity in the projection plane of an imaging sensor connected to the observer. It applies to systems with six degrees of freedom, such as aircraft. Systems with simpler dynamics are treated as a special case.