Robust recovery of ego-motion

Michal Irani, Benny Rousso, Shmuel Peleg

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

A robust method is introduced for computing the camera motion (the ego-motion) in a static scene. The method is based on detecting a single planar surface in the scene directly from image intensities, and computing its 2D motion in the image plane. The detected 2D motion of the planar surface is used to register the images, so that the planar surface appears stationary. The resulting displacement field for the entire scene in such registered frames is affected only by the 3D translation of the camera, which is computed by finding the focus-of-expansion in the registered frames. This step is followed by computing the 3D rotation to complete the computation of the ego-motion. This 3D motion computation is based on a motion computation scheme which handles the difficult case when multiple image motions are present. This multiple motion analysis is performed together with object segmentation by using a temporal integration approach.

Original languageEnglish
Title of host publicationComputer Analysis of Images and Patterns - 5th International Conference, CAIP 1993, Proceedings
EditorsDmitry Chetverikov, Walter G. Kropatsch
PublisherSpringer Verlag
Pages372-378
Number of pages7
ISBN (Print)9783540572336
DOIs
StatePublished - 1993
Event5th International Conference on Computer Analysis of Images and Patterns, CAIP 1993 - Budapest, Hungary
Duration: 13 Sep 199315 Sep 1993

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume719 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference5th International Conference on Computer Analysis of Images and Patterns, CAIP 1993
Country/TerritoryHungary
CityBudapest
Period13/09/9315/09/93

Bibliographical note

Publisher Copyright:
© 1993, Springer Verlag. All rights reserved.

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