Optical flow computation for compound eyes: variational analysis of omni-directional views

Authors:
Akihiko Torii;Atsushi Imiya;Hironobu Sugaya;Yoshihiko Mochizuki
Affiliations:
School of Science and Technology, Chiba University;Institute of Media and Information Technology, Chiba University, Chiba, Japan;School of Science and Technology, Chiba University;School of Science and Technology, Chiba University
Venue:
BVAI'05 Proceedings of the First international conference on Brain, Vision, and Artificial Intelligence
Year:
2005

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Abstract

This paper focuses on variational optical flow computation for spherical images. It is said that some insects recognise the world through optical flow observed by their compound eyes, which observe spherical views. Furthermore, images observed through a catadioptric system with a conic mirror and a fish-eye-lens camera are transformed to images on the sphere. Spherical motion field on the spherical retina has some advantages for the ego-motion estimation of autonomous mobile observer. We provide a framework for motion field analysis on the spherical retina using variational method for image analysis.