Mapping local image deformations into depth

Authors:
Stephen Benoit;Frank P. Ferrie
Affiliations:
Department of Electrical and Computer Engineering, and the Centre for Intelligent Machines, McGill University, Montréal, Canada;Department of Electrical and Computer Engineering, and the Centre for Intelligent Machines, McGill University, Montréal, Canada
Venue:
ICIAR'05 Proceedings of the Second international conference on Image Analysis and Recognition
Year:
2005

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Abstract

The paper presents a 2 frame structure-from-motion algorithm that operates by mapping local changes (image deformations) into estimates of time-to-collision (TTC). For constant velocity motion of the camera in a stationary scene, time-to-collision amounts to coarse depth data – useful for navigation and qualitative scene understanding. The theory is supported by a set of experiments demonstrating accurate TTC recovery from video sequence data acquired by a mobile robot.