scispace - formally typeset
Search or ask a question
Topic

Motion estimation

About: Motion estimation is a research topic. Over the lifetime, 31258 publications have been published within this topic receiving 699084 citations.


Papers
More filters
Journal ArticleDOI
TL;DR: The Condensation algorithm uses “factored sampling”, previously applied to the interpretation of static images, in which the probability distribution of possible interpretations is represented by a randomly generated set.
Abstract: The problem of tracking curves in dense visual clutter is challenging. Kalman filtering is inadequate because it is based on Gaussian densities which, being unimo dal, cannot represent simultaneous alternative hypotheses. The Condensation algorithm uses “factored sampling”, previously applied to the interpretation of static images, in which the probability distribution of possible interpretations is represented by a randomly generated set. Condensation uses learned dynamical models, together with visual observations, to propagate the random set over time. The result is highly robust tracking of agile motion. Notwithstanding the use of stochastic methods, the algorithm runs in near real-time.

5,804 citations

Journal ArticleDOI
TL;DR: The goal of this article is to review the state-of-the-art tracking methods, classify them into different categories, and identify new trends to discuss the important issues related to tracking including the use of appropriate image features, selection of motion models, and detection of objects.
Abstract: The goal of this article is to review the state-of-the-art tracking methods, classify them into different categories, and identify new trends. Object tracking, in general, is a challenging problem. Difficulties in tracking objects can arise due to abrupt object motion, changing appearance patterns of both the object and the scene, nonrigid object structures, object-to-object and object-to-scene occlusions, and camera motion. Tracking is usually performed in the context of higher-level applications that require the location and/or shape of the object in every frame. Typically, assumptions are made to constrain the tracking problem in the context of a particular application. In this survey, we categorize the tracking methods on the basis of the object and motion representations used, provide detailed descriptions of representative methods in each category, and examine their pros and cons. Moreover, we discuss the important issues related to tracking including the use of appropriate image features, selection of motion models, and detection of objects.

5,318 citations

Journal ArticleDOI
TL;DR: A first-order primal-dual algorithm for non-smooth convex optimization problems with known saddle-point structure can achieve O(1/N2) convergence on problems, where the primal or the dual objective is uniformly convex, and it can show linear convergence, i.e. O(ωN) for some ω∈(0,1), on smooth problems.
Abstract: In this paper we study a first-order primal-dual algorithm for non-smooth convex optimization problems with known saddle-point structure. We prove convergence to a saddle-point with rate O(1/N) in finite dimensions for the complete class of problems. We further show accelerations of the proposed algorithm to yield improved rates on problems with some degree of smoothness. In particular we show that we can achieve O(1/N 2) convergence on problems, where the primal or the dual objective is uniformly convex, and we can show linear convergence, i.e. O(? N ) for some ??(0,1), on smooth problems. The wide applicability of the proposed algorithm is demonstrated on several imaging problems such as image denoising, image deconvolution, image inpainting, motion estimation and multi-label image segmentation.

4,487 citations

Journal ArticleDOI
TL;DR: The authors present a complete procedure for the identification and exploitation of stable natural reflectors or permanent scatterers (PSs) starting from long temporal series of interferometric SAR images.
Abstract: Temporal and geometrical decorrelation often prevents SAR interferometry from being an operational tool for surface deformation monitoring and topographic profile reconstruction. Moreover, atmospheric disturbances can strongly compromise the accuracy of the results. The authors present a complete procedure for the identification and exploitation of stable natural reflectors or permanent scatterers (PSs) starting from long temporal series of interferometric SAR images. When, as it often happens, the dimension of the PS is smaller than the resolution cell, the coherence is good even for interferograms with baselines larger than the decorrelation one, and all the available images of the ESA ERS data set can be successfully exploited. On these pixels, submeter DEM accuracy and millimetric terrain motion detection can be achieved, since atmospheric phase screen (APS) contributions can be estimated and removed. Examples are then shown of small motion measurements, DEM refinement, and APS estimation and removal in the case of a sliding area in Ancona, Italy. ERS data have been used.

3,963 citations

Journal ArticleDOI
TL;DR: The first successful application of the SLAM methodology from mobile robotics to the "pure vision" domain of a single uncontrolled camera, achieving real time but drift-free performance inaccessible to structure from motion approaches is presented.
Abstract: We present a real-time algorithm which can recover the 3D trajectory of a monocular camera, moving rapidly through a previously unknown scene. Our system, which we dub MonoSLAM, is the first successful application of the SLAM methodology from mobile robotics to the "pure vision" domain of a single uncontrolled camera, achieving real time but drift-free performance inaccessible to structure from motion approaches. The core of the approach is the online creation of a sparse but persistent map of natural landmarks within a probabilistic framework. Our key novel contributions include an active approach to mapping and measurement, the use of a general motion model for smooth camera movement, and solutions for monocular feature initialization and feature orientation estimation. Together, these add up to an extremely efficient and robust algorithm which runs at 30 Hz with standard PC and camera hardware. This work extends the range of robotic systems in which SLAM can be usefully applied, but also opens up new areas. We present applications of MonoSLAM to real-time 3D localization and mapping for a high-performance full-size humanoid robot and live augmented reality with a hand-held camera

3,772 citations


Network Information
Related Topics (5)
Object detection
46.1K papers, 1.3M citations
94% related
Image segmentation
79.6K papers, 1.8M citations
94% related
Feature extraction
111.8K papers, 2.1M citations
93% related
Feature (computer vision)
128.2K papers, 1.7M citations
92% related
Convolutional neural network
74.7K papers, 2M citations
91% related
Performance
Metrics
No. of papers in the topic in previous years
YearPapers
202395
2022233
2021346
2020479
2019578
2018674