Dynamic Stereo From Multiple Image Flows

Allen M. Waxman; Sarvajit S. Sinha

doi:10.1117/12.946199

17 January 1985 Dynamic Stereo From Multiple Image Flows

Allen M. Waxman, Sarvajit S. Sinha

Proceedings Volume 0521, Intelligent Robots and Computer Vision; (1985) https://doi.org/10.1117/12.946199
Event: 1984 Cambridge Symposium, 1984, Cambridge, United States

Abstract

A new concept in passive ranging to moving objects is described which is based on the comparison of multiple image flows. It is well known that if a static scene is viewed by an observer undergoing a known relative translation through space, then the distance to objects in the scene can be easily obtained from the measured image velocities associated with features on the objects (i.e. motion stereo). But in general, individual objects are translating and rotating at unknown rates with respect to a moving observer whose own motion may not be accurately monitored. The net effect is a complicated image flow field in which absolute range information is lost. However, if a second image flow field is produced by a camera whose motion through space differs from that of the first camera by a known amount, the range information can be recovered by subtracting the first image flow from the second. This "difference flow" must then be corrected for the known relative rotation between the two cameras, resulting in a divergent relative flow from a known focus of expansion. This passive ranging process may be termed Dynamic Stereo, the known difference in camera motions playing the role of the stereo baseline. We present the basic theory of this ranging process, along with some examples for simulated scenes. Potentiat applications are in autonomous vehicle navigation (with one fixed and one movable camera mounted on the vehicle), coordinated motions between two vehicles (each carrying one fixed camera) for passive ranging to moving targets, and in industrial robotics (with two cameras mounted on different parts of a robot arm) for intercepting moving workpieces.

Citation Download Citation

Allen M. Waxman and Sarvajit S. Sinha "Dynamic Stereo From Multiple Image Flows", Proc. SPIE 0521, Intelligent Robots and Computer Vision, (17 January 1985); https://doi.org/10.1117/12.946199

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
4 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Cameras

Ranging

Image restoration

Velocity measurements

Machine vision

Motion measurement

Robotics

Show All Keywords

Keywords/Phrases

Search In:

Publication Years