Structure and motion of entire polyhedra

Tarek M. Sobh; Tarek Khaled Alameldin

doi:10.1117/12.25486

1 March 1991 Structure and motion of entire polyhedra

Tarek M. Sobh, Tarek Khaled Alameldin

Proceedings Volume 1388, Mobile Robots V; (1991) https://doi.org/10.1117/12.25486
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

We describe an efficient system for recovering the 3-D motion and structure of entire polyhedra from an evolving image sequence. The suggested technique utilizes the image flow velocities in order to recover the 3-D parameters. We develop a method for estimating the image flow velocities and an algorithm for computing the 3-D parameters given two successive image frames. The solution is then improved by using a large number of image frames and exploiting the temporal coherence of 3-D motion. We use the ordinary differential which describe the parametric evolution in terms of the current motion/structure and the measurements in the image plane. The extended Kalman filter is then used to update the solution. The process is started by segmenting the entire scene into a number of planar surfaces and then applying the above technique to each surface under consideration the probable inconsistencies are then resolved.

Citation Download Citation

Tarek M. Sobh and Tarek Khaled Alameldin "Structure and motion of entire polyhedra", Proc. SPIE 1388, Mobile Robots V, (1 March 1991); https://doi.org/10.1117/12.25486

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