Binocular Image Flows: Steps Toward Stereo-Motion Fusion
IEEE Transactions on Pattern Analysis and Machine Intelligence
Subspace methods for recovering rigid motion I: algorithm and implementation
International Journal of Computer Vision
Divergent stereo in autonomous navigation: from bees to robots
International Journal of Computer Vision - Special issue on qualitative vision
Effects of errors in the viewing geometry on shape estimation
Computer Vision and Image Understanding
Geometry of Distorted Visual Space and Cremona Transformation
International Journal of Computer Vision
Stereo-Motion with Stereo and Motion in Complement
IEEE Transactions on Pattern Analysis and Machine Intelligence
Linear Differential Algorithm for Motion Recovery: AGeometric Approach
International Journal of Computer Vision
Image quilting for texture synthesis and transfer
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Data Fusion for Sensory Information Processing Systems
Data Fusion for Sensory Information Processing Systems
3-D Translational Motion and Structure from Binocular Image Flows
IEEE Transactions on Pattern Analysis and Machine Intelligence
Insect Inspired Visual Control of Translatory Flight
ECAL '01 Proceedings of the 6th European Conference on Advances in Artificial Life
Motion - Stereo Integration for Depth Estimation
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part II
Motion analysis with a camera with unknown, and possibly varying intrinsic parameters
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Removal of Translation Bias when Using Subspace Methods
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Lucas/Kanade meets Horn/Schunck: combining local and global optic flow methods
International Journal of Computer Vision
Estimating Disparity and Occlusions in Stereo Video Sequences
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
Multi-View Stereo Reconstruction and Scene Flow Estimation with a Global Image-Based Matching Score
International Journal of Computer Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Epiflow-A paradigm for tracking stereo correspondences
Computer Vision and Image Understanding
Modeling the World from Internet Photo Collections
International Journal of Computer Vision
Linear Quasi-Parallax SfM Using Laterally-Placed Eyes
International Journal of Computer Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
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In this paper, we explore how a visual system equipped with a pair of frontally-placed eyes/cameras can rapidly estimate egomotion and depths for the task of locomotion by exploiting the eye topography. We eschew the traditional approach of motion-stereo integration, as finding stereo correspondence is a computationally expensive operation. Instead, we propose a quasi-parallax scheme by pairing appropriate visual rays together, thus obviating the need for stereo correspondence and yet being able to leverage on the redundant information present in the binocular overlap. Our model covers realistic visual systems where the two eyes might deviate from the strictly frontal-parallel configuration, and yet the results show that the advantages of the parallax-based approach are retained. In particular, it offers better disambiguation of translation and rotation over conventional two-frame structure from motion approaches, despite not having views covering diametrically opposing directions like that of spherical eyes or laterally-placed eyes. The rapid processing that such scheme entails seems to offer a more realizable and useful alternative for depth recovery during locomotion.