Binocular Image Flows: Steps Toward Stereo-Motion Fusion

  • Authors:

  • A M Waxman;J H Duncan

  • Affiliations:

  • -;-

  • Venue:
  • IEEE Transactions on Pattern Analysis and Machine Intelligence
  • Year:
  • 1986

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Abstract

The analyses of visual data by stereo and motion modules have typically been treated as separate parallel processes which both feed a common viewer-centered 2.5-D sketch of the scene. When acting separately, stereo and motion analyses are subject to certain inherent difficulties; stereo must resolve a combinatorial correspondence problem and is further complicated by the presence of occluding boundaries, motion analysis involves the solution of nonlinear equations and yields a 3-D interpretation specified up to an undetermined scale factor. A new module is described here which unifies stereo and motion analysis in a manner in which each helps to overcome the other's short-comings. One important result is a correlation between relative image flow (i.e., binocular difference flow) and stereo disparity; it points to the importance of the ratio 驴 驴, rate of change of disparity 驴 to disparity 驴, and its possible role in establishing stereo correspondence. The importance of such ratios was first pointed out by Richards [19]. Our formulation may reflect the human perception channel probed by Regan and Beverley [18].