The performance of camera translation direction estimators from optical flow: analysis, comparison, and theoretical limits

Author

Earnshaw, A. Mark ; Blostein, Steven D.

Author_Institution

Dept. of Electr. & Comput. Eng., Queen´´s Univ., Kingston, Ont., Canada

Volume

18

Issue

9

fYear

1996

fDate

9/1/1996 12:00:00 AM

Firstpage

927

Lastpage

932

Abstract

A noniterative method using optical flow to recover the translation direction of a moving camera has been previously proposed by Heeger-Jepson (1992). In this paper we present a detailed explanation of the bias in this algorithm and compare methods for eliminating this bias, as well as presenting a comprehensive error analysis. This analysis includes a necessary modification to the Cramer-Rao lower bound (CRLB), We propose a simple iterative modification to the algorithm which produces unbiased translation direction estimates that approach the CRLB. Numerical results are used to compare the various techniques on synthetic and real image sequences

Keywords

computer vision; error analysis; image restoration; image sequences; iterative methods; motion estimation; optimisation; Cramer-Rao lower bound; bias; computer vision; error analysis; image sequences; iterative method; linear constraints; motion recovery; moving camera; optical flow; translation direction estimators; Cameras; Error analysis; Image motion analysis; Iterative algorithms; Iterative methods; Motion estimation; Optical filters; Optical noise; Performance analysis; Vectors;

fLanguage

English

Journal_Title

Pattern Analysis and Machine Intelligence, IEEE Transactions on

Publisher

ieee

ISSN

0162-8828

Type

jour

DOI

10.1109/34.537346

Filename

537346