Title :
Feed-forward recovery of motion and structure from a sequence of 2D-lines matches
Author :
Viéville, Thierry ; Faugeras, Olivier
Author_Institution :
INRIA Sophia-Antipolis, Valbonne, France
Abstract :
A description is given of the development and implementation of a line segments based module of recovery of self-motion and 3-D structure. Given a monocular sequence of time-varying images and 2-D-lines matches in this sequence, the goal is to recover the camera motion and the 3-D-lines structure. A feedforward approach which combines prediction and correction is presented, and the equations are given and discussed in the case of small rigid motions. Algorithms, based on the minimization of the Mahalanobis distance between two estimates, are given and their implementations carefully discussed. The efficiency of the proposed approach is illustrated through experimental tests carried out considering noisy synthetic data and a real indoor scene
Keywords :
computer vision; computerised picture processing; minimisation; 3-D structure; Mahalanobis distance; camera motion; feedforward motion and structure recovery; line segments based module; minimization; monocular sequence; noisy synthetic data; real indoor scene; self-motion; sequence of 2D-lines matches; time-varying images; Equations; Feedforward systems; Image motion analysis; Image segmentation; Image sensors; Layout; Minimization methods; Nonlinear optics; Optical sensors; Testing;
Conference_Titel :
Computer Vision, 1990. Proceedings, Third International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-8186-2057-9
DOI :
10.1109/ICCV.1990.139585
