3D motion from image derivatives using the least trimmed square regression

Authors:
Fadi Dornaika;Angel D. Sappa
Affiliations:
Computer Vision Center, Edifici O, Campus UAB, Bellaterra, Barcelona, Spain;Computer Vision Center, Edifici O, Campus UAB, Bellaterra, Barcelona, Spain
Venue:
IWICPAS'06 Proceedings of the 2006 Advances in Machine Vision, Image Processing, and Pattern Analysis international conference on Intelligent Computing in Pattern Analysis/Synthesis
Year:
2006

Citing 4
Cited 0

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Abstract

This paper presents a new technique to the instantaneous 3D motion estimation. The main contributions are as follows. First, we show that the 3D camera or scene velocity can be retrieved from image derivatives only. Second, we propose a new robust algorithm that simultaneously provides the Least Trimmed Square solution and the percentage of inliers- the non-contaminated data. Experiments on both synthetic and real image sequences demonstrated the effectiveness of the developed method. Those experiments show that the developed robust approach can outperform the classical robust scheme.