A General Aperture Problem for Direct Estimation of 3-D Motion Parameters
IEEE Transactions on Pattern Analysis and Machine Intelligence
On a Constraint Equation for the Estimation of Displacement Rates in Image Sequences
IEEE Transactions on Pattern Analysis and Machine Intelligence
Direct Recovery of Motion and Shape in the General Case by Fixation
IEEE Transactions on Pattern Analysis and Machine Intelligence
The computation of optical flow
ACM Computing Surveys (CSUR)
Structure From Controlled Motion
IEEE Transactions on Pattern Analysis and Machine Intelligence
Directions of Motion Fields are Hardly Ever Ambiguous
International Journal of Computer Vision
Estimating the Focus of Expansion in Analog VLSI
International Journal of Computer Vision
A Kalman Filter Approach to Direct Depth Estimation Incorporating Surface Structure
IEEE Transactions on Pattern Analysis and Machine Intelligence
Model-Based Brightness Constraints: On Direct Estimation of Structure and Motion
IEEE Transactions on Pattern Analysis and Machine Intelligence
Extracting Structure from Optical Flow Using the Fast Error Search Technique
International Journal of Computer Vision
Optical Flow Constraints on Deformable Models with Applications to Face Tracking
International Journal of Computer Vision
Adjusting Shape Parameters Using Model-Based Optical Flow Residuals
IEEE Transactions on Pattern Analysis and Machine Intelligence
Self-Calibration from Image Derivatives
International Journal of Computer Vision
On the consistency of instantaneous rigid motion estimation
International Journal of Computer Vision
Direct Recovery of Planar-Parallax from Multiple Frames
IEEE Transactions on Pattern Analysis and Machine Intelligence
Hand-Eye Calibration from Image Derivatives
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part II
Motion and structure from multiple cues; image motion, shading flow, and stereo disparity
Computer Vision and Image Understanding
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
Correspondence-Free Determination of the Affine Fundamental Matrix
IEEE Transactions on Pattern Analysis and Machine Intelligence
A variational method for the recovery of dense 3D structure from motion
Robotics and Autonomous Systems
Correspondence-free Structure from Motion
International Journal of Computer Vision
Camera Motion Estimation Through Planar Deformation Determination
Journal of Mathematical Imaging and Vision
Estimation of the epipole using optical flow at antipodal points
Computer Vision and Image Understanding
Context definition for estimating camera motion through planar deformation
CGIM '07 Proceedings of the Ninth IASTED International Conference on Computer Graphics and Imaging
Recursive estimation of time-varying motion and structure parameters
Pattern Recognition
Is appearance-based structure from motion viable?
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Robust visual odometry using uncertainty models
ACIVS'11 Proceedings of the 13th international conference on Advanced concepts for intelligent vision systems
Robust global mosaic topology estimation for real-time applications
ICIAR'05 Proceedings of the Second international conference on Image Analysis and Recognition
Visual motion ambiguities of a plane in 2-D FS sonar motion sequences
Computer Vision and Image Understanding
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In this correspondence, we show how to recover the motion of an observer relative to a planar surface from image brightness derivatives. We do not compute the optical flow as an intermediate step, only the spatial and temporal brightness gradients (at a minimum of eight points). We first present two iterative schemes for solving nine nonlinear equations in terms of the motion and surface parameters that are derived from a least-squares fomulation. An initial pass over the relevant image region is used to accumulate a number of moments of the image brightness derivatives. All of the quantities used in the iteration are efficiently computed from these totals without the need to refer back to the image. We then show that either of two possible solutions can be obtained in closed form. We first solve a linear matrix equation for the elements of a 3 脳 3 matrix. The eigenvalue decomposition of the symmetric part of the matrix is then used to compute the motion parameters and the plane orientation. A new compact notation allows us to show easily that there are at most two planar solutions.