Multibody motion estimation and segmentation from multiple central panoramic views
Multibody motion estimation and segmentation from multiple central panoramic views
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DOI：
10.1109/robot.2003.1241655
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发表时间：
2003-11
期刊：
影响因子：
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通讯作者：
O. Shakernia;R. Vidal;S. Sastry
中科院分区：
文献类型：
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作者：
O. Shakernia;R. Vidal;S. Sastry
我们提出了一种算法，用于无穷小运动估计和分割从多个中心全景视图。我们首先表明，中央全景光流对应于独立的运动位于正交的10维子空间的高维线性空间。然后，我们提出了一种基于因式分解的技术，估计独立运动的数量，分割的图像测量和运动的每个对象相对于相机从一组图像点和他们的光流在多帧。最后，我们提出了一个真实的图像序列与两个独立移动的移动的机器人的运动估计和分割的实验结果，并评估我们的算法的性能，通过比较的视觉估计与GPS测量收集的移动的机器人。
We present an algorithm for infinitesimal motion estimation and segmentation from multiple central panoramic views. We first show that the central panoramic optical flows corresponding to independent motions lie in orthogonal ten-dimensional subspaces of a higher-dimensional linear space. We then propose a factorization-based technique that estimates the number of independent motions, the segmentation of the image measurements and the motion of each object relative to the camera from a set of image points and their optical flows in multiple frames. Finally, we present the experimental results on motion estimation and segmentation for a real image sequence with two independently moving mobile robots, and evaluate the performance of our algorithm by comparing the vision estimates with GPS measurements gathered by the mobile robots.