Camera motion estimation using normal flows

Ding Yuan; Miao Liu; Hong Zhang

doi:10.1117/12.2010851

20 March 2013 Camera motion estimation using normal flows

Ding Yuan, Miao Liu, Hong Zhang

Proceedings Volume 8768, International Conference on Graphic and Image Processing (ICGIP 2012); 87681W (2013) https://doi.org/10.1117/12.2010851
Event: 2012 International Conference on Graphic and Image Processing, 2012, Singapore, Singapore

Abstract

An autonomous system must have the capability of estimating or controlling its own motion parameters. There already exit tens of research work to fulfill the task. However, most of them are based on the motion correspondences establishment or full optical flows estimation. The above solutions put restrictions on the scene: either there must be presence of enough distinct features, or there must be dense texture. Different from the traditional works, utilizing no motion correspondences or epipolar geometry, we start from the normal flow data, ensure good use of every piece of them because they could only be sparsely available. We apply the spherical image model to avoid the ambiguity in describing the camera motion. Since each normal flow gives a locus for the location of the camera motion, the intersection of such loci offered by different data points will narrow the possibilities of the camera motion and even pinpoint it. A voting scheme in φ-θ domain is applied to simplify the 3D voting space to a 2D voting space. We tested the algorithms introduced above by using both synthetic image data and real image sequences. Experimental results are shown to illustrate the potential of the methods.

Citation Download Citation

Ding Yuan, Miao Liu, and Hong Zhang "Camera motion estimation using normal flows", Proc. SPIE 8768, International Conference on Graphic and Image Processing (ICGIP 2012), 87681W (20 March 2013); https://doi.org/10.1117/12.2010851

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