Subspace methods for recovering rigid motion I: algorithm and implementation
International Journal of Computer Vision
Nonlinear total variation based noise removal algorithms
Proceedings of the eleventh annual international conference of the Center for Nonlinear Studies on Experimental mathematics : computational issues in nonlinear science: computational issues in nonlinear science
Robust estimation of egomotion from normal flow
International Journal of Computer Vision
The computation of optical flow
ACM Computing Surveys (CSUR)
A Theory of Single-Viewpoint Catadioptric Image Formation
International Journal of Computer Vision
The Geometry of Multiple Images: The Laws That Govern The Formation of Images of A Scene and Some of Their Applications
A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms
International Journal of Computer Vision
Comparison of Approaches to Egomotion Computation
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Image Processing in Catadioptric Planes: Spatiotemporal Derivatives and Optical Flow Computation
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
Ego-Motion and Omnidirectional Cameras
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
An Algorithm for Total Variation Minimization and Applications
Journal of Mathematical Imaging and Vision
A Variational Approach to Remove Outliers and Impulse Noise
Journal of Mathematical Imaging and Vision
Structure-Texture Image Decomposition--Modeling, Algorithms, and Parameter Selection
International Journal of Computer Vision
Correspondence-free Structure from Motion
International Journal of Computer Vision
Non-local Regularization of Inverse Problems
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part III
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
A duality based approach for realtime TV-L1 optical flow
Proceedings of the 29th DAGM conference on Pattern recognition
ICIP'09 Proceedings of the 16th IEEE international conference on Image processing
Photogeometric Direct Visual Tracking for Central Omnidirectional Cameras
Journal of Mathematical Imaging and Vision
International Journal of Computer Vision
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We address the problem of depth and ego-motion estimation from omnidirectional images. We propose a correspondence-free structure-from-motion problem for sequences of images mapped on the 2-sphere. A novel graph-based variational framework is first proposed for depth estimation between pairs of images. The estimation is cast as a TV-L1 optimization problem that is solved by a fast graph-based algorithm. The ego-motion is then estimated directly from the depth information without explicit computation of the optical flow. Both problems are finally addressed together in an iterative algorithm that alternates between depth and ego-motion estimation for fast computation of 3D information from motion in image sequences. Experimental results demonstrate the effective performance of the proposed algorithm for 3D reconstruction from synthetic and natural omnidirectional images.