Subspace methods for recovering rigid motion I: algorithm and implementation
International Journal of Computer Vision
In Defense of the Eight-Point Algorithm
IEEE Transactions on Pattern Analysis and Machine Intelligence
Simulation and robot implementation of visual orientation behaviors of flies
Proceedings of the fifth international conference on simulation of adaptive behavior on From animals to animats 5
Heteroscedastic Regression in Computer Vision: Problems with Bilinear Constraint
International Journal of Computer Vision - Special issue on a special section on visual surveillance
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Data Fusion for Sensory Information Processing Systems
Data Fusion for Sensory Information Processing Systems
Learning View Graphs for Robot Navigation
Autonomous Robots - Special issue on autonomous agents
Factorization with Uncertainty
International Journal of Computer Vision
Understanding the Behavior of SFM Algorithms: A Geometric Approach
International Journal of Computer Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Ego-Motion Estimation Using Optical Flow Fields Observed from Multiple Cameras
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Multi-View Geometry for General Camera Models
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Quasi-Parallax for Nearly Parallel Frontal Eyes
International Journal of Computer Vision
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A large class of visual systems in the biological world often has multiple eyes in simultaneous motion and yet has little or no overlap in the visual fields between the eyes. These systems include the lateral eyes found in many vertebrates and the compound eyes in insects. Instead of computing feature correspondences between the eyes, which might not even be possible due to the lack of overlap in the visual fields, we exploit the organizational possibility offered by the eye topography. In particular, we leverage on the pair of visual rays that are parallel to each other but opposite in direction, and compute what we call the quasi-parallax for translation recovery. Besides resulting in parsimonious visual processing, the quasi-parallax term also enhances the information pick-up for the translation, as it is almost rotation-free. The rotation is subsequently recovered from a pencil of visual rays using the individual epipolar constraints of each camera. As a result of using these different and appropriate aspects of visual rays for motion recovery, our method is numerically more effective in disambiguating the translation and rotation. In comparison to the gold standard solution obtained by the bundle adjustment (BA) technique, our method has a better Fisher information matrix for a lateral eye pair, as well as a superior experimental performance under the case of narrow field of view. For other eye configurations, the two methods achieve comparable performances, with our linear method slightly edging the nonlinear BA method when there exists imperfection in the calibration.