Accession Number : ADA313098

Title :   Obtaining Range from Visual Motion Using Local Image Derivatives.

Descriptive Note : Final rept.,

Corporate Author : NAVAL COMMAND CONTROL AND OCEAN SURVEILLANCE CENTER RDT AND E DIV SAN DIEGO CA

Personal Author(s) : Nguyen, Hoa G.

PDF Url : ADA313098

Report Date : JUL 1996

Pagination or Media Count : 23

Abstract : In many robotic and remote operation applications, depth (or range) information at various points in the scene is required. These include autonomous navigation, landing site selection, scene reconstruction, or postprocessing interpretation of video footage. Theoretically, depth, motion, and optical flow (generated by the relative movement between the camera and scene) are three parameters of a circular problem: Given the camera motion and three-dimensional structure of the scene, we can generate the optical flow, and hence construct a sequence of images of the moving scene (3-D simulation). Given knowledge of the three-dimensional scene and the optical flow, we can compute the motion which generated it (motion recovery). And finally, given the camera motion and the resulting optical flow, we can extract depth information and reconstruct the three-dimensional scene that gave rise to the flow (scene reconstruction).

Descriptors :   *OPTICAL PROPERTIES, *MOTION, *OPTICAL IMAGES, *AUTONOMOUS NAVIGATION, *COMPUTER VISION, RECOVERY, ROBOTICS, PARAMETERS, STRUCTURES, SEQUENCES, THREE DIMENSIONAL, CAMERAS, LANDING FIELDS, SITE SELECTION, REMOTE CONTROL, CIRCULAR.

Subject Categories : Computer Programming and Software
      Land and Riverine Navigation and Guidance
      Optics

Distribution Statement : APPROVED FOR PUBLIC RELEASE