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ICCV 2001
International Conference on Computing Vision
Vancouver,
Canada,
July 9- July 12 2001
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Motion
Estimation from Disparity Images
D.
Demirdjian , T. Darrell
Vision Interface Group
MIT Artificial Intelligence Laboratory
200 Technology Square, Cambridge, MA 02139 USA
{demirdji, trevor}@ai.mit.edu
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ABSTRACT
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A new method for 3D rigid
motion estimation from stereo is proposed in this paper.
The appealing feature of this method is that it directly
uses the disparity images obtained from stereo matching.
We assume that the stereo rig has parallel cameras and show,
in that case, the geometric and topological properties of
the disparity images. Then we introduce a rigid (called
d-motion) that maps two disparity images of a rigidly moving
object. We show how it is related to the Euclidean rigid
motion and a motion estimation algorithm is derived. We
show with experiments that our approach is simple and more
accurate than standard approaches.
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