NDLI: Recovery of ego-motion using region alignment

Content Provider	IEEE Xplore Digital Library
Author	Irani, M. Rousso, B. Peleg, S.
Copyright Year	1979
Abstract	A method for computing the 3D camera motion (the ego-motion) in a static scene is described, where initially a detected 2D motion between two frames is used to align corresponding image regions. We prove that such a 2D registration removes all effects of camera rotation, even for those image regions that remain misaligned. The resulting residual parallax displacement field between the two region-aligned images is an epipolar field centered at the FOE (Focus-of-Expansion). The 3D camera translation is recovered from the epipolar field. The 3D camera rotation is recovered from the computed 3D translation and the detected 2D motion. The decomposition of image motion into a 2D parametric motion and residual epipolar parallax displacements avoids many of the inherent ambiguities and instabilities associated with decomposing the image motion into its rotational and translational components, and hence makes the computation of ego-motion or 3D structure estimation more robust.
Sponsorship	IEEE Computer Society
Starting Page	268
Ending Page	272
Page Count	5
File Size	703001
File Format	PDF
ISSN	01628828
Volume Number	19
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-03-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Layout Motion estimation Motion detection Motion analysis Robustness Image motion analysis Pixel Equations Focusing
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Artificial Intelligence Computational Theory and Mathematics Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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