Journal ArticleDOI
A Computational Framework and an Algorithm for the Measurement of Visual
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TLDR
This paper describes a hierarchical computational framework for the determination of dense displacement fields from a pair of images, and an algorithm consistent with that framework, based on a scale-based separation of the image intensity information and the process of measuring motion.Abstract:
THE ROBUST MEASUREMENT OF VISUAL MOTION FROM DIGITIZED IMAGE SEQUENCES HAS BEEN AN IMPORTANT BUT DIFFICULT PROBLEM IN COMPUTER VISION. THIS PAPER DESCRIBES A HIERARCHICAL COMPUTATIONAL FRAMEWORK FOR THE DETERMINATION OF DENSE DISPLACEMENT FIELDS FROM A PAIR OF IMAGES, AND AN ALGORITHM CONSIST- ENT WITH THAT FRAMEWORK. OUR FRAMEWORK IS BASED ON THE SEPARATION OF THE IMAGE INTENSITY INFORMATION AS WELL AS THE PROCESS OF MEASURING MOTION ACCORDING TO SCALE. THE LARGE SCALE INTENSITY INFORMATION IS FIRST USED TO OBTAIN ROUGH ESTIMATES OF IMAGE MOTION, WHICH ARE THEN REFINED BY USING INTENSITY INFORMATION AT SMALLER SCALES. THE ESTIMATES ARE IN THE FORM OF DISPLACEMENT (OR VELOCITY) VECTORS FOR PIXELS AND ARE ACCOMPANIED BY A DIRECTION-DEPENDENT CONFIDENCE MEASURE. A SMOOTHNESS CONSTRAINT IS EMPLOYED TO PROPAGATE THE MEASUREMENTS WITH HIGH CONFIDENCE TO THEIR NEIGBORING AREAS WHERE THE CONFIDENCES ARE LOW. AT ALL LEVELS, THE COMPUTATIONS ARE PIXEL-PARALLEL, UNIFORM ACROSS THE IMAGE, AND BASED ON INFORMATION FROM A SMALL NEIGHBORHOOD OF A PIXEL. FOR OUR ALGORITHM, THE LOCAL DISPLACEMENT VECTORS ARE DETERMIND BY MINI- MIZING THE SUM-OF-SQUARED DIFFERENCES (SSD) OF INTENSITIES, THE CONFIDENCE MEASURES ARE DERIVED FROM THE SHAPE OF THE SSD SURFACE, AND THE SMOOTHNESS CONSTRAINT IS CAST IN THE FORM OF ENERGY MINIMIZATION. RESULTS OF APPLYING OUR ALGORITHM TO PAIRS OF REAL IMAGES ARE INCLUDED. IN ADDITION TO OUR OWNread more
Citations
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Proceedings ArticleDOI
Good features to track
Jianbo Shi,Tomasi +1 more
TL;DR: A feature selection criterion that is optimal by construction because it is based on how the tracker works, and a feature monitoring method that can detect occlusions, disocclusions, and features that do not correspond to points in the world are proposed.
Journal ArticleDOI
A taxonomy and evaluation of dense two-frame stereo correspondence algorithms
TL;DR: This paper has designed a stand-alone, flexible C++ implementation that enables the evaluation of individual components and that can easily be extended to include new algorithms.
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Performance of optical flow techniques
TL;DR: These comparisons are primarily empirical, and concentrate on the accuracy, reliability, and density of the velocity measurements; they show that performance can differ significantly among the techniques the authors implemented.
Book
Computer Vision: Algorithms and Applications
TL;DR: Computer Vision: Algorithms and Applications explores the variety of techniques commonly used to analyze and interpret images and takes a scientific approach to basic vision problems, formulating physical models of the imaging process before inverting them to produce descriptions of a scene.
Journal ArticleDOI
A tutorial on visual servo control
TL;DR: This article provides a tutorial introduction to visual servo control of robotic manipulators by reviewing the prerequisite topics from robotics and computer vision, including a brief review of coordinate transformations, velocity representation, and a description of the geometric aspects of the image formation process.
References
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Journal ArticleDOI
Stochastic Relaxation, Gibbs Distributions, and the Bayesian Restoration of Images
Stuart Geman,Donald Geman +1 more
TL;DR: The analogy between images and statistical mechanics systems is made and the analogous operation under the posterior distribution yields the maximum a posteriori (MAP) estimate of the image given the degraded observations, creating a highly parallel ``relaxation'' algorithm for MAP estimation.
Proceedings Article
An iterative image registration technique with an application to stereo vision
Bruce D. Lucas,Takeo Kanade +1 more
TL;DR: In this paper, the spatial intensity gradient of the images is used to find a good match using a type of Newton-Raphson iteration, which can be generalized to handle rotation, scaling and shearing.
Journal ArticleDOI
Determining optical flow
TL;DR: In this paper, a method for finding the optical flow pattern is presented which assumes that the apparent velocity of the brightness pattern varies smoothly almost everywhere in the image, and an iterative implementation is shown which successfully computes the Optical Flow for a number of synthetic image sequences.
Book
Digital Picture Processing
Azriel Rosenfeld,Avinash C. Kak +1 more
TL;DR: The rapid rate at which the field of digital picture processing has grown in the past five years had necessitated extensive revisions and the introduction of topics not found in the original edition.
Book
Differential geometry of curves and surfaces
TL;DR: This paper presents a meta-geometry of Surfaces: Isometrics Conformal Maps, which describes how the model derived from the Gauss Map changed over time to reflect the role of curvature in the model construction.