Analysis of a Sequence of Stereo Scenes Containing Multiple Moving Objects Using Rigidity Constraints
Abstract
Iri this paper, we describe a method for comput.ing the rriovc~rrient. of objects as well as that of a mobile robot from ii scqiicrice of stereo frames. Stereo frames are obtained at ~iifl’(~reiit, instants by a stereo rig, when the mobile robot rIilvigat(>s in an unknown environment possibly containing ~)iiit: rrioving rigid objects. An approach based on rigidity ( oiihlraiiit, s is presented for registering two stereo frames. Wcs dernoristrate how the uncertainty of measurements can IN^ integrated with the formalism of the rigidity constraints. A iiew technique is described to match very noisy segments. ‘1‘11~ iiifluence of egomotion on observed movement:; of ob, j(~ 1,s is discussed in detail. Egomotion is fir:jt determined itiid then eliminated before determination of the motion of o1)jt:cl.s. The proposed algorithm is completely automatic. I~:xperirnerital results are provided. Some remarks conclude ths paper.
Cite
Text
Zhang et al. "Analysis of a Sequence of Stereo Scenes Containing Multiple Moving Objects Using Rigidity Constraints." IEEE/CVF International Conference on Computer Vision, 1988. doi:10.1109/CCV.1988.589989Markdown
[Zhang et al. "Analysis of a Sequence of Stereo Scenes Containing Multiple Moving Objects Using Rigidity Constraints." IEEE/CVF International Conference on Computer Vision, 1988.](https://mlanthology.org/iccv/1988/zhang1988iccv-analysis/) doi:10.1109/CCV.1988.589989BibTeX
@inproceedings{zhang1988iccv-analysis,
title = {{Analysis of a Sequence of Stereo Scenes Containing Multiple Moving Objects Using Rigidity Constraints}},
author = {Zhang, Zhengyou and Faugeras, Olivier D. and Ayache, Nicholas},
booktitle = {IEEE/CVF International Conference on Computer Vision},
year = {1988},
pages = {177-186},
doi = {10.1109/CCV.1988.589989},
url = {https://mlanthology.org/iccv/1988/zhang1988iccv-analysis/}
}