Analysis and comparison of two methods for the estimation of 3D motion parameters
Autor(a) principal: | |
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Data de Publicação: | 2003 |
Outros Autores: | |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10316/4070 https://doi.org/10.1016/S0921-8890(03)00065-4 |
Resumo: | This paper analyzes the problem of motion estimation from a sequence of stereo images. Two methods are considered and their differential and discrete approaches are compared. The differential approaches use differential optical flow whereas the discrete approaches use feature correspondences. Both methods are used to compute, first, the 3D velocity in the direction of the optical axis and, next, the complete rigid motion parameters. The uncertainty propagation models for both methods and approaches are derived. These models are analyzed in order to point out the critical variables for the methods. The methods were extensively tested using synthetic images as well as real images and conclusions are drawn from the results. Real images are used without any illumination control of the scene in order to study the behavior of the methods in strongly noisy environments with low resolution depth maps. |
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Analysis and comparison of two methods for the estimation of 3D motion parameters3D motionEgo-motionTime-to-impactRigid bodyUncertainty propagationThis paper analyzes the problem of motion estimation from a sequence of stereo images. Two methods are considered and their differential and discrete approaches are compared. The differential approaches use differential optical flow whereas the discrete approaches use feature correspondences. Both methods are used to compute, first, the 3D velocity in the direction of the optical axis and, next, the complete rigid motion parameters. The uncertainty propagation models for both methods and approaches are derived. These models are analyzed in order to point out the critical variables for the methods. The methods were extensively tested using synthetic images as well as real images and conclusions are drawn from the results. Real images are used without any illumination control of the scene in order to study the behavior of the methods in strongly noisy environments with low resolution depth maps.http://www.sciencedirect.com/science/article/B6V16-48V8497-2/1/d8a3a7b3219a77b9553373c8a194f41c2003info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleaplication/PDFhttp://hdl.handle.net/10316/4070http://hdl.handle.net/10316/4070https://doi.org/10.1016/S0921-8890(03)00065-4engRobotics and Autonomous Systems. 45:1 (2003) 23-49Gonçalves, NunoAraújo, Helderinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2020-11-06T16:59:54Zoai:estudogeral.uc.pt:10316/4070Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T20:57:52.933951Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Analysis and comparison of two methods for the estimation of 3D motion parameters |
title |
Analysis and comparison of two methods for the estimation of 3D motion parameters |
spellingShingle |
Analysis and comparison of two methods for the estimation of 3D motion parameters Gonçalves, Nuno 3D motion Ego-motion Time-to-impact Rigid body Uncertainty propagation |
title_short |
Analysis and comparison of two methods for the estimation of 3D motion parameters |
title_full |
Analysis and comparison of two methods for the estimation of 3D motion parameters |
title_fullStr |
Analysis and comparison of two methods for the estimation of 3D motion parameters |
title_full_unstemmed |
Analysis and comparison of two methods for the estimation of 3D motion parameters |
title_sort |
Analysis and comparison of two methods for the estimation of 3D motion parameters |
author |
Gonçalves, Nuno |
author_facet |
Gonçalves, Nuno Araújo, Helder |
author_role |
author |
author2 |
Araújo, Helder |
author2_role |
author |
dc.contributor.author.fl_str_mv |
Gonçalves, Nuno Araújo, Helder |
dc.subject.por.fl_str_mv |
3D motion Ego-motion Time-to-impact Rigid body Uncertainty propagation |
topic |
3D motion Ego-motion Time-to-impact Rigid body Uncertainty propagation |
description |
This paper analyzes the problem of motion estimation from a sequence of stereo images. Two methods are considered and their differential and discrete approaches are compared. The differential approaches use differential optical flow whereas the discrete approaches use feature correspondences. Both methods are used to compute, first, the 3D velocity in the direction of the optical axis and, next, the complete rigid motion parameters. The uncertainty propagation models for both methods and approaches are derived. These models are analyzed in order to point out the critical variables for the methods. The methods were extensively tested using synthetic images as well as real images and conclusions are drawn from the results. Real images are used without any illumination control of the scene in order to study the behavior of the methods in strongly noisy environments with low resolution depth maps. |
publishDate |
2003 |
dc.date.none.fl_str_mv |
2003 |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10316/4070 http://hdl.handle.net/10316/4070 https://doi.org/10.1016/S0921-8890(03)00065-4 |
url |
http://hdl.handle.net/10316/4070 https://doi.org/10.1016/S0921-8890(03)00065-4 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
Robotics and Autonomous Systems. 45:1 (2003) 23-49 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
aplication/PDF |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
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1799133868173819904 |