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Proceedings Paper

Structure and motion of entire polyhedra
Author(s): Tarek M. Sobh; Tarek Khaled Alameldin
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Paper Abstract

We describe an efficient system for recovering the 3-D motion and structure of entire polyhedra from an evolving image sequence. The suggested technique utilizes the image flow velocities in order to recover the 3-D parameters. We develop a method for estimating the image flow velocities and an algorithm for computing the 3-D parameters given two successive image frames. The solution is then improved by using a large number of image frames and exploiting the temporal coherence of 3-D motion. We use the ordinary differential which describe the parametric evolution in terms of the current motion/structure and the measurements in the image plane. The extended Kalman filter is then used to update the solution. The process is started by segmenting the entire scene into a number of planar surfaces and then applying the above technique to each surface under consideration the probable inconsistencies are then resolved.

Paper Details

Date Published: 1 March 1991
PDF: 7 pages
Proc. SPIE 1388, Mobile Robots V, (1 March 1991); doi: 10.1117/12.25486
Show Author Affiliations
Tarek M. Sobh, Univ. of Pennsylvania (United States)
Tarek Khaled Alameldin, Univ. of Pennsylvania (United States)

Published in SPIE Proceedings Vol. 1388:
Mobile Robots V
Wendell H. Chun; William J. Wolfe, Editor(s)

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