| 102C3 |
|---|
| Recovery of Structure from Optical Flow by Monocular Scopy in Continuous Self-Motion |
| AUTHORS |
| Hideaki NAGANO, Teruo YAMAGUCHI (Kumamoto University) |
| ABSTRACT |
| It is necessary for the robot which works in unconditioned environment to obtain three dimensional information about surrounding objects in order to recognize the environment. In previous method, the shape of the rigidly moving object is estimated by the motion parameter of the object and optical flow obtained by a moving camera. This method is, however, the camera must stop moving in order to obtain the motion parameter, and it is inefficient because the working robot should not stop in unconditioned environment. In this paper, we propose a method of estimating the shape of the object from the motion parameter in the situation that the camera keeps moving. In practice, the optical flow which includes the translation of the camera and the motion of the object is observed, and four motion parameters which consist of the rotation of the object, and one motion parameter which consists of their relative translation can be extracted. The camera's translation component can be substantially removed from the parameter, and the optical flow as if the camera were stationary is estimated by using the new motion parameter to determine the shape of the object. Our simulation shows that the shape of the object can be estimated with errors within ten pixels. |
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Annual Conference 2002