Mapping Local Image Deformations into Depth
نویسندگان
چکیده
The paper presents a 2 frame structure-from-motion algorithm that operates by mapping local changes (image deformations) into estimates of time-to-collision (TTC). For constant velocity motion of the camera in a stationary scene, time-to-collision amounts to coarse depth data useful for navigation and qualitative scene understanding. The theory is supported by a set of experiments demonstrating accurate TTC recovery from video sequence data acquired by a mobile robot.
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