Title :
A Kalman filter approach to direct depth estimation incorporating surface structure
Author :
Hung, Y.S. ; Ho, H.T.
Author_Institution :
Dept. of Electr. & Electron. Eng., Hong Kong Univ., Hong Kong
fDate :
6/1/1999 12:00:00 AM
Abstract :
The problem of depth-from-motion using a monocular image sequence is considered. A pixel-based model is developed for direct depth estimation within a Kalman filtering framework. A method is proposed for incorporating local surface structure into the Kalman filter. Experimental results are provided to illustrate the effect of structural information on depth estimation
Keywords :
Kalman filters; image sequences; Kalman filter; depth-from-motion recovery; direct depth estimation; local surface structure; monocular image sequence; pixel-based model; Cameras; Filtering; Gradient methods; Image motion analysis; Image sequences; Motion estimation; Optical filters; Optical noise; Optical sensors; Surface structures;
Journal_Title :
Pattern Analysis and Machine Intelligence, IEEE Transactions on
