Using optical flow, the kinematics and depth information, how to estimate the proper motion of the object

摘要

Relates to a detection method for detecting the proper movement of the real world objects, the method, the image capture device by the (ICD), the first time point at (t ₁₎ the first image of the object the invention, (I ₁₎ The acquired, a step of acquiring a second image of the object (I _2), during _(1, t ₂ t) when the first and second, and the image point in the second (t ₂₎ Based was estimated based on the kinematics of the forward direction (ICD) capture device, motion effects the image capturing device (ICD) itself (EMF), to obtain a third (virtual) image (I ₃₎ a step of determining the (OF) optical flow between images of the third (I ₂₎ and the step, the second image in the (I _3), in order to determine the proper movement of the said object, the optical flow (OF By incorporating the uncertainty in the motion flow of the self (EMF), and a step of evaluating the optical flow (OF) and). [Selection] Figure Figure 1