ML Anthology

Robust Structure from Motion Using Motion Parallax

Roberto Cipolla, Yasukazu Okamoto, Yoshinori Kuno
ICCV 1993 pp. 374-382
doi:10.1109/ICCV.1993.378190 /iccv/1993/cipolla1993iccv-robust/

Abstract

An efficient and geometrically intuitive algorithm for reliably interpreting the image velocities of moving objects in 3-D is presented. It is well known that under a weak perspective the image motion of points on a plane can be characterized by an affine transformation. It is shown that the relative image motion of a nearby non-coplanar point and its projection on the plane is equivalent to motion parallax, and because it is independent of view rotations it is a reliable geometric cue to 3-D shape and viewer/object motion. The authors summarize why structure from motion algorithms are often very sensitive to errors in the measured image velocities and then show how to efficiently and reliably extract an incomplete qualitative solution. They also show how to augment this into a complete solution if additional constraints or views are available. A real-time example is presented in which the 3-D visual interpretation of hand gestures or a hand-held object is used as part of a man-machine interface. This is an alternative to the Polhemus coil instrumented Dataglove commonly used in sensing manual gestures.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

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Cite

Text

Cipolla et al. "Robust Structure from Motion Using Motion Parallax." IEEE/CVF International Conference on Computer Vision, 1993. doi:10.1109/ICCV.1993.378190

Markdown

[Cipolla et al. "Robust Structure from Motion Using Motion Parallax." IEEE/CVF International Conference on Computer Vision, 1993.](https://mlanthology.org/iccv/1993/cipolla1993iccv-robust/) doi:10.1109/ICCV.1993.378190

BibTeX

@inproceedings{cipolla1993iccv-robust,
  title     = {{Robust Structure from Motion Using Motion Parallax}},
  author    = {Cipolla, Roberto and Okamoto, Yasukazu and Kuno, Yoshinori},
  booktitle = {IEEE/CVF International Conference on Computer Vision},
  year      = {1993},
  pages     = {374-382},
  doi       = {10.1109/ICCV.1993.378190},
  url       = {https://mlanthology.org/iccv/1993/cipolla1993iccv-robust/}
}