Recovering three-dimensional velocity and establishing stereo correspondence from binocular image flows

James H. Duncan; Lingxiao Li; Wendong Wang

doi:10.1117/12.206584

1 July 1995 Recovering three-dimensional velocity and establishing stereo correspondence from binocular image flows

James H. Duncan, Lingxiao Li, Wendong Wang

Author Affiliations +

Optical Engineering, Vol. 34, Issue 7, (July 1995). https://doi.org/10.1117/12.206584

Abstract

Optical flow fields from parallel stereo cameras are analyzed to determine the 3-D motion of the camera platform with respect to objects in view and to establish stereo correspondence. A linear system of equations, whose coefficients consist of the moments of image velocities and coordinates in the stereo images, is solved to recover the 3-D motion components. This system of equations is derived under the assumption that all feature points have stereo matches (points without stereo matches are called drop-ins and drop-outs); however, point-to-point stereo correspondences are not required. No assumptions about the 3-D structure of the scene are made. Once the 3-D motion components are computed, stereo correspondence for a pair of potentially matching points is established by comparing three computed depth values: Z_l obtained from the monocular optical flow equations for the left image; Z_r, obtained from the same equations for the right image; and Z_s, obtained from stereo disparity. For correct matches these three depths must be nearly equal. The method is applied to numerically generated and laboratory image sequences with and without drop-ins and dropouts. In cases where the percentage of drop-ins and drop-outs is large, an iterative scheme is used to detect and eliminate the drop-ins and drop-outs, thus improving the motion estimates.

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James H. Duncan, Lingxiao Li, and Wendong Wang "Recovering three-dimensional velocity and establishing stereo correspondence from binocular image flows," Optical Engineering 34(7), (1 July 1995). https://doi.org/10.1117/12.206584

Published: 1 July 1995

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