Focal Flow: Velocity and Depth from Differential Defocus Through Motion
Focal Flow: Velocity and Depth from Differential Defocus Through Motion
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DOI：
10.1007/s11263-017-1051-5
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发表时间：
2018-10
影响因子：
19.5
通讯作者：
Emma Alexander;Qi Guo;S. Koppal;S. Gortler;Todd E. Zickler
中科院分区：
文献类型：
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作者：
Emma Alexander;Qi Guo;S. Koppal;S. Gortler;Todd E. Zickler
介绍了一种焦流传感器。它是一种非驱动的单目相机，同时利用散焦和差分运动来测量深度图和3D场景速度场。它使用类似光流的每像素线性约束来实现这一点，该约束将图像导数与深度和速度相关联。我们推导了这一约束，证明了它对场景纹理的不变性，并证明了只有当传感器的模糊核为高斯时，它才是精确满足的。我们分析了焦点流线索的内在敏感性，并建立并测试了一个原型。实验为更广泛的光圈配置提供了有用的深度和速度信息，包括带有柱状光圈的简单透镜。
We present the focal flow sensor. It is an unactuated, monocular camera that simultaneously exploits defocus and differential motion to measure a depth map and a 3D scene velocity field. It does this using an optical-flow-like, per-pixel linear constraint that relates image derivatives to depth and velocity. We derive this constraint, prove its invariance to scene texture, and prove that it is exactly satisfied only when the sensor’s blur kernels are Gaussian. We analyze the inherent sensitivity of the focal flow cue, and we build and test a prototype. Experiments produce useful depth and velocity information for a broader set of aperture configurations, including a simple lens with a pillbox aperture.